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🤖 autonav_pkg - Simple Navigation for Robots

💻 Overview

autonav_pkg offers an easy way to explore autonomous navigation for differential-drive robots. It uses simulated LiDAR technology, occupancy grid mapping, and an Artificial Potential Field (APF) controller. This package includes example launch files and visualization tools to help you get started quickly.

🔗 Download Now

🚀 Getting Started

To use this software, follow these steps:

1. Check System Requirements:
   • Operating System: Windows, macOS, or Linux
   • RAM: At least 4 GB
   • Processor: Dual-core processor or better
   • Software: ROS (Robot Operating System) must be installed. Refer to the ROS installation guide.
2. Visit the Download Page:
   • Go to the Releases page to access the latest version of the software.

📥 Download & Install

• On the Releases page, find the latest version of autonav_pkg.
• Look for the file named autonav_pkg_<version>.zip.
• Click on the file to download it.

🗂 Unzip the File

Once the download is complete, locate the downloaded file on your computer:

1. Right-click on the autonav_pkg_<version>.zip file.
2. Select “Extract All” or “Unzip” to unpack the contents.

🛠 Set Up ROS Workspace

Before running the application, you need to create a ROS workspace if you don’t have one already:

1. Open a terminal.
2. Type the following commands:

   mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/src
   catkin_init_workspace
   

3. Move the extracted autonav_pkg folder into the workspace:

   mv /path/to/autonav_pkg ~/catkin_ws/src/
   

4. Build the workspace:

   cd ~/catkin_ws
   catkin_make
   

🎮 Run the Demo

To run the autonomous navigation demo, simply follow these steps:

1. Open your terminal.
2. Source your ROS setup:

   source /opt/ros/noetic/setup.bash
   

   (Replace “noetic” with your ROS version if needed).

3. Source your workspace:

   source ~/catkin_ws/devel/setup.bash
   

4. Launch the demo:

   roslaunch autonav_pkg demo.launch
   

🌐 Visualize the Robot

Once the demo is running, use RViz (a 3D visualization tool for ROS) to see the robot’s environment. Open a new terminal and type:

rosrun rviz rviz

In RViz, you can load the appropriate configuration to visualize the robot’s movements and sensor data.

🧭 Features

• Simulated LiDAR: Get realistic sensor data for navigation.
• Obstacle Avoidance: The system automatically detects obstacles.
• Mapping: Create detailed occupancy grids of the environment.
• User-Friendly Launch Files: Quickly start different scenarios with example configurations.
• Visualization: Easily visualize robot navigation and sensor data using RViz.

📄 Files Included

• demo.launch: The main launch file to start the simulation.
• map.yaml: A sample map to demonstrate occupancy grid mapping.
• robot_model.urdf: The robot model used for simulations.

💬 Support

If you encounter issues or have questions, please check the Issues section on GitHub. You can also reach out to the community on relevant forums to share experiences or seek help.

🌍 Contributing

We welcome contributions to make this project better. If you’re interested, please read the contributing guidelines in the repository and submit your pull requests.

🔗 Additional Resources

• ROS Documentation
• Gazebo Simulation
• Artificial Potential Field Method

📜 License

This project is licensed under the MIT License. See the LICENSE file for more details.

🔗 Download Now Again

Don’t forget to download autonav_pkg to start your journey into autonomous navigation!