waiter_robot_with_stvl_navigation

This repository contains code for a waiter robot that operates using a 2D map created with GMapping, AMCL for localization, Move Base for navigation, and STVL for dynamic world perception.

Map Creation

To create the map, follow the instructions at [https://github.com/Ahmed-M0ataz/waiter_robot_with_stvl_navigation/tree/main/waiter_robot_gmapping_pkg].

Loading Map

After creating the map, load it using map_server.

Starting Navigation

Initiate Move Base with STVL to begin navigation.

Running the Workspace

1. Make a ROS workspace:

   mkdir -p your_name_ws/src

2. Navigate to your workspace:

   cd your_name_ws/src

3. Clone this repository:

   git clone https://github.com/Ahmed-M0ataz/waiter_robot_with_stvl_navigation.git

4. Launch robot description to spawn the robot in Gazebo and add all necessary sensors:

   roslaunch waiter_robot_description_pkg robot_descripion.launch

   

5. Launch navigation with STVL:

   roslaunch waiter_robot_navigation_pkg waiter_navigation_stvl.launch

   

Testing Video

Link to testing video