ROS 2 Autonomous Navigation Robot

A fully autonomous mobile robot built using ROS 2 Humble, Gazebo, and Nav2, capable of mapping, localization, and goal-based navigation in a custom simulation environment.

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🎥 Demo

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🖼️ Project Showcase

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🧠 What This Project Demonstrates

This project showcases:

• ✅ Full robotics pipeline (Perception → Localization → Planning → Control)
• ✅ Strong understanding of ROS 2 architecture
• ✅ Hands-on experience with Nav2 stack
• ✅ Debugging of real-world issues:
  • TF tree errors
  • Costmap tuning
  • QoS mismatches
• ✅ Ability to design scalable, modular systems

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⚙️ System Architecture

🔹 High-Level Flow

LiDAR → SLAM → Map → AMCL → Nav2 Planner → Controller → cmd_vel → Robot

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🔹 ROS 2 Graph (rqt_graph)

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🔹 TF Tree

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🚗 Robot Capabilities

• 🗺️ Mapping using SLAM Toolbox
• 📍 Localization using AMCL
• 🎯 Goal-based navigation (Nav2)
• 🚧 Obstacle avoidance (costmaps)
• 📡 LiDAR-based perception
• 🔁 Stable TF tree (map → odom → base_link)
• 🕹️ Manual + autonomous control

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🧩 Navigation Stack Breakdown

Component	Role
Map Server	Loads static map
AMCL	Localization
Planner Server	Global path planning
Controller Server	Local trajectory execution
BT Navigator	Decision making

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🧪 Simulation Environment

• Gazebo Classic
• Custom maze world
• Differential drive robot
• Realistic LiDAR + IMU sensors

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🐳 Docker Deployment

Build Image

cd ~/ros2_ws/src/diff_robot
docker build -t diff_robot_nav2 .

Run Container

xhost +local:docker

docker run -it \
--env="DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--env="LIBGL_ALWAYS_SOFTWARE=1" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--net=host \
--name diff_robot_container \
diff_robot_nav2

Run Simulation

source /ros2_ws/install/setup.bash
ros2 launch diff_robot robot.launch.py

Run Navigation (New Terminal)

docker exec -it diff_robot_container bash

source /ros2_ws/install/setup.bash
ros2 launch diff_robot nav2.launch.py

Usage

1. Open RViz
2. Set Initial Pose
3. Send Navigation Goal
4. Robot autonomously reaches target