autonomous_mobile_robot

Package Name

• robot_description_pkg
• gazebo_pkg
• navigtion_pkg

robot_description_pkg

• urdf
• meshes
• worlds

gazebo_pkg

• launch

navigtion_pkg

• launch
• maps
• param
• rviz

Description

This Autonomous mobile robot with skid steer drive, i used the Unified Robot Description Format (URDF) to build this robot .

used gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping) to create a 2D occupancy grid map .

AMCL is a probabilistic localization system for a robot moving in 2D.

Navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base, using the move_base package

Run robot in gazebo

roslaunch gazebo_pkg gazebo.launch 

Create 2D map

roslaunch navigtion_pkg gmapping.launch

Save the map

 rosrun map_server map_saver 

Run navigtion in Rviz

 roslaunch navigtion_pkg navigation.launch

this launch have ('Amcl' , 'move_base' , 'Map server' , 'rviz')

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