WatDig: Autonomous Navigation Robot

Introduction

Welcome to the repository for WatDig, an innovative autonomous navigation robot designed for The Boring Company's Not-a-Boring Competition. WatDig navigates complex underground environments autonomously, without GPS, leveraging the robust and flexible ROS2 Humble architecture.

Features

• Autonomous Navigation: Utilizes advanced algorithms for navigating through subterranean environments.
• ROS2 Humble Architecture: Ensures modularity and integration ease, making it ideal for complex robotic applications.
• Sensor Fusion: Combines data from various sensors for precise environmental interaction.
• Real-Time Mapping: Generates on-the-fly maps of unknown terrains, aiding in efficient pathfinding and obstacle avoidance.

Prerequisites

Before installation, ensure you have:

• ROS2 Humble installed
• Python 3.7 or newer
• Necessary hardware drivers (refer to hardware_setup.md)

Installation

To install WatDig, follow these steps:

1. Clone the Repository:

   git clone https://github.com/your-repository/watdig.git

2. Navigate to the Directory

   cd watdig

3. Install Dependencies

   rosdep install --from-paths src --ignore-src -r -y
   

Usage

Launch watdig using the command

./startonly.sh

Configuration

• Sensors: Configure 'conifg/sensors.yaml'
• Navigation Parameters: Adjust in 'config/navigation.yaml'