Robotics: Autonomous Navigation and Odometry

This project focuses on exploring key concepts in robotics, specifically within the ROS 2 (Robot Operating System 2) framework. The core objective was to implement and demonstrate fundamental robotic functionalities: Simultaneous Localization and Mapping (SLAM), autonomous navigation using Nav2, calculating and publishing robot odometry, and custom path planning.

The project involved setting up a simulation environment using Gazebo and Rviz, creating custom ROS 2 packages, and developing Python nodes to interact with the simulated robot. A significant aspect was addressing environmental limitations by utilizing a UEF server for smooth operation of the simulation tools.

Environment Setup

• Initial attempts with WSL/Docker and virtual machines faced performance issues
• Resolved by transitioning to a UEF server for fluid simulation experience

ROS 2 Fundamentals

• Demonstrated understanding of the ROS 2 publisher-subscriber model
• Listed available topics and echoed data from the Lidar scanner (/scan)
• Confirmed obstacle detection capabilities

SLAM and Navigation Demo

• Subscribed to the /map topic in Rviz for real-time map visualization
• Utilized Nav2 stack for autonomous navigation
• Implemented "Nav2 Goals" for guided robot navigation

Custom ROS 2 Package and Odometry

• Created new ROS 2 package using Turtle Nest tool
• Developed OdometryPublisher node for wheel velocity-based calculations
• Visualized robot's traversed path and position in Rviz

Custom Path Planning

• Modified nav2_params.yaml for custom path planning integration
• Implemented straight-line path planning in dedicated Python node

• Achieved stable, high-performance simulation environment on UEF server
• Demonstrated proficiency in ROS 2 concepts and implementation
• Successfully implemented SLAM and autonomous navigation
• Developed and analyzed wheel odometry calculations
• Identified limitations and proposed solutions for real-world scenarios
• Integrated custom path planning algorithm with Nav2 framework
• Gained insights into robotics development challenges and sensor fusion importance