Self-Navigating Rover (ROS2)

An autonomous ground-rover project built using ROS2, capable of self-navigation, IMU-based state estimation, map-based localization, and waypoint following. This repository contains the complete robot description, navigation setup, test scripts, and map files used for development and experiments.

---

Overview

This project implements a self-navigating rover using the ROS2 ecosystem. It integrates:

• Robot description (URDF)
• IMU sensor integration
• Navigation2 (Nav2) stack testing
• Map loading and waypoint navigation
• Custom rover control package

Key Features

1. Robot Description (URDF)

• Defines the rover’s physical structure
• Includes IMU, Camera, Lidar.
• Viewable in RViz2
• Easily extendable for LiDAR, cameras, or GPS

2. IMU Integration

• imu_sub package subscribes to IMU topics
• Provides filtered orientation and acceleration
• Supports future sensor fusion

3. Map-Based Navigation

• Used rviz to view the map and postion of the rover on the field
• Gazebo is used a pyhiscal simualtor to test the simulation

4. Nav2 Test Script

nav2_test.py demonstrates:

• Map loading
• Sending navigation goals
• Monitoring Nav2 feedback
• Useful for validating navigation pipeline

---

Technologies Used

• ROS2 (Humble)
• Python 3
• C++
• URDF / XML
• Navigation2 Stack
• RViz2