AUTONAV

AutoNav is an innovative autonomous mobile robot designed for efficient room navigation. Leveraging the Robot Operating System (ROS) along with SLAM (Simultaneous Localization and Mapping) and ROS Navstack.

It excels in autonomous pathfinding and obstacle avoidance. At its core, AutoNav employs IMU-based sensor fusion for precise movement control and utilizes a depth camera for accurate perception and 3D mapping. This integration of advanced technologies enables AutoNav to navigate complex environments with ease.

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📖 Table of Contents

• 📖 Table of Contents
• 📍 Overview
• 📦 Features
• 📂 Repository Structure
• 🚀 Getting Started
  • 🔧 Installation
  • 🤖 Running AutoNav
  • 🧪 Tests
• 🛣 Project Roadmap
• 🤝 Contributing
  • Contributing Guidelines
• 📄 License
• 👏 Acknowledgments

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📍 Overview

AutoNav is an advanced autonomous mobile robot designed to navigate through rooms independently. This project showcases the integration of cutting-edge technologies in robotics, including the Robot Operating System (ROS), Simultaneous Localization and Mapping (SLAM), Sensor Fusion and the ROS Navigation Stack.

AutoNav is a testament to the possibilities in autonomous robotic systems, aiming to pave the way for future innovations in this field. This project is suitable for enthusiasts and professionals alike, seeking to explore and expand in the realm of autonomous robotics.

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📦 Features

• Autonomous Navigation:

  Utilizes SLAM and ROS Navstack for intelligent pathfinding and obstacle avoidance in various environments.

• Sensor Fusion:

  Integrates Inertial Measurement Unit (IMU) sensors for enhanced movement precision and stability.

• Hardware Integration:

  Designed to work seamlessly with a range of robotic hardware, enabling easy integration of sensors, actuators, and other essential components for autonomous navigation.

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📂 Repository Structure

└── AutoNav/
    ├── .github
    │   └── workflows
    │       └── AutoNav_CI.yml
    ├── autonav.Dockerfile
    ├── autonav_bringup
    │   ├── CMakeLists.txt
    │   └── launch
    │       ├── autonav_bringup.launch.py
    │       ├── view_rviz.launch.py
    │       ├── view_rviz_cartographer.launch.py
    │       ├── view_rviz_navigation.launch.py
    │       └── view_rviz_slam.launch.py
    ├── autonav_controller
    │   ├── CMakeLists.txt
    │   ├── autonav_controller
    │   │   ├── cmd_vel_republisher.py
    │   │   ├── control.py
    │   │   ├── lidar_republisher.py
    │   │   ├── odom_logger.py
    │   │   ├── pid_controller.py
    │   │   └── tune_pid.py
    │   ├── config
    │   │   └── autonav_controllers.yaml
    │   └── launch
    │       ├── autonav_bringup.launch.py
    │       └── controller.launch.py
    ├── autonav_description
    │   ├── CMakeLists.txt
    │   ├── launch
    │   │   ├── autonav_bringup.launch.py
    │   │   ├── display.launch.py
    │   │   ├── gazebo.launch.py
    │   │   └── robot_description.launch.py
    │   ├── meshes
    │   │   ├── base_link.stl
    │   │   ├── depth_camera_1.stl
    │   │   ├── imu_1.stl
    │   │   ├── left_wheel_1.stl
    │   │   ├── lidar_1.stl
    │   │   └── right_wheel_1.stl
    │   ├── rviz
    │   │   └── display.rviz
    │   └── urdf
    │       ├── autonav.trans
    │       ├── autonav.xacro
    │       ├── autonav_gazebo.xacro
    │       ├── autonav_ros2_control.xacro
    │       └── materials.xacro
    ├── autonav_firmware
    │   ├── CMakeLists.txt
    │   ├── firmware
    │   │   └── esp32_uros
    │   ├── include
    │   │   └── autonav_firmware
    │   ├── launch
    │   │   └── autonav_bringup.launch.py
    │   └── src
    │       ├── autonav_interface.cpp
    │       └── autonav_interface_backup.cpp
    ├── autonav_localization
    │   ├── CMakeLists.txt
    │   ├── config
    │   │   └── ekf.yaml
    │   └── launch
    │       └── ekf.launch.py
    ├── autonav_navigation
    │   ├── CMakeLists.txt
    │   ├── config
    │   │   ├── cartographer.lua
    │   │   ├── navigation.yaml
    │   │   └── slam.yaml
    │   ├── launch
    │   │   ├── cartographer.launch.py
    │   │   ├── navigation.launch.py
    │   │   ├── save_map.launch.py
    │   │   └── slam.launch.py
    │   ├── maps
    │   │   ├── L1012.pgm
    │   │   ├── L1012.yaml
    │   │   ├── L1012_test.pgm
    │   │   ├── L1012_test.yaml
    │   │   ├── world.pgm
    │   │   └── world.yaml
    │   └── rviz
    │       ├── cartographer.rviz
    │       ├── navigation.rviz
    │       └── slam.rviz
    ├── bno055
    │   ├── .github
    │   │   └── workflows
    │   ├── CHANGELOG.rst
    │   ├── LEGACY_LICENSE
    │   ├── bno055
    │   │   ├── bno055.py
    │   │   ├── connectors
    │   │   ├── error_handling
    │   │   ├── params
    │   │   ├── registers.py
    │   │   └── sensor
    │   ├── launch
    │   │   └── bno055.launch.py
    │   ├── requirements.txt
    │   ├── resource
    │   │   └── bno055
    │   └── setup.py
    ├── docker-compose.yml
    └── ydlidar_ros2_driver
        ├── CMakeLists.txt
        ├── LICENSE.txt
        ├── config
        │   └── ydlidar.rviz
        ├── launch
        │   ├── ydlidar.py
        │   ├── ydlidar_launch.py
        │   └── ydlidar_launch_view.py
        ├── params
        │   └── X4.yaml
        ├── src
        │   ├── ydlidar_ros2_driver_client.cpp
        │   └── ydlidar_ros2_driver_node.cpp
        └── startup
            └── initenv.sh

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🚀 Getting Started

Dependencies

Please ensure you have the following dependencies installed on your system:

- ℹ️ Docker

Installation Link

🔧 Installation

1. Clone the AutoNav repository:

mkdir ~/colcon_ws/src/ && cd ~/colcon_ws/src
git clone https://github.com/JatinPatil2003/AutoNav.git

2. Change to the project directory:

cd AutoNav

3. Pull Docker Images:

docker compose pull autonav micro_ros

🤖 Running AutoNav

Make sure you are in Project directory

cd colcon_ws/src/AutoNav

• For Robot Bringup

  docker compose up micor_ros autonav

• For Mapping

  docker compose up cartographer

  Mapping.mp4

• For Saving Map

  docker compose run save_map

• For Navigation

  docker compose run navigation

  Navigation.mp4

• For rviz/rviz_cartographer/rviz_navigation on Host Computer

  xhost +local:
  docker compose up {rviz/rviz_cartographer/rviz_navigation}

🧪 Tests

► Give goal position using rviz form rviz docker conatiner

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🛣 Project Roadmap

• ℹ️ Import urdf form fusion360
• ℹ️ Implement Mapping and Navigation in Simulation
• ℹ️ Implement Mapping and Naviagtion using Hardware
• ℹ️ Implement sensor fusion using IMU and Odometry
• ℹ️ Implement 3D-Mapping using depth camera

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🤝 Contributing

Contributions are welcome! Here are several ways you can contribute:

• Submit Pull Requests:

  Review open PRs, and submit your own PRs.

• Join the Discussions:

  Share your insights, provide feedback, or ask questions.

• Report Issues:

  Submit bugs found or log feature requests for JATINPATIL2003.

Contributing Guidelines

Click to expand

1. Fork the Repository: Start by forking the project repository to your GitHub account.
2. Clone Locally: Clone the forked repository to your local machine using a Git client.

   git clone https://github.com/JatinPatil2003/AutoNav.git

3. Create a New Branch: Always work on a new branch, giving it a descriptive name.

   git checkout -b new-feature-x

4. Make Your Changes: Develop and test your changes locally.
5. Commit Your Changes: Commit with a clear and concise message describing your updates.

   git commit -m 'Implemented new feature x.'

6. Push to GitHub: Push the changes to your forked repository.

   git push origin new-feature-x

7. Submit a Pull Request: Create a PR against the original project repository. Clearly describe the changes and their motivations.

Once your PR is reviewed and approved, it will be merged into the main branch.

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📄 License

This project is protected under the MIT License. For more details, refer to the LICENSE file.

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👏 Acknowledgments

• Fusion360 to URDF Plugin

• Bno055 IMU Package

• YDLidar Package

Return

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