Robot Package for automous navigation and mapping

Overview

This package contains the launch files, nodes, and topics required for autonomous navigation and mapping. The robot is a 4 wheel drive robot with a lidar. The robot is controlled by a raspberry pi 4. The robot uses ROS2 humble.

Dependencies

Software

• ROS2 Humble
• Ubuntu 22.04

Hardware (In simulation its optional)

• Raspberry Pi 4 or Jetson Orin nano
• Lidar (optional)
• Arduino nano
• Camera module

Installation

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/linuxchunk/chunkbot_one.git
cd ~/catkin_ws
colcon make

Usage

source ~/catkin_ws/install/setup.bash
ros2 launch chunkbot_one launch_robot.launch.py

Launching with Simulation

source ~/catkin_ws/install/setup.bash
ros2 launch chunkbot_one launch_sim.launch.py