two-wheeled-bot-autonomous-navigation

In this project I am navigating a two wheeled bot autonomously in a closed environment using AMCL in ros-noetic. The simulation_gazebo package used here is taken from bitbucket.

The URDF of the robot is created using Autodesk's Fusion360.

Steps

To run gazebo and rviz (run each command in different terminals)

$ roslaunch my2wbnew_description gazebo.launch
$ roslaunch my2wbnew_description display.launch

To start cmd publisher

which make changes to original commands from cmd_vel & publishes it to new cmd_vel_new topic which is subscribed by gazebo through diffrential drive plugin

$ python3 <path/to/file>/cmd_pub.py

For gmapping

$ roslaunch my2wbnew_description gmapping.launch

For autonomous navigation

$ roslaunch my2wbnew_description navigation.launch