Autonomous Navigation with Path planning

This project is built on the AgileX LIMO robotic platform, running Ubuntu 18.04 and ROS Melodic on a Jetson Nano. It focuses on core robotics functionalities, including environment mapping and localisation, leveraging both Gmapping and Karto-SLAM algorithms for SLAM (Simultaneous Localisation and Mapping). For autonomous navigation and path planning, the Dijkstra algorithm is implemented to determine the most efficient routes. To ensure seamless operation, the project requires Python 3, pip3, and a properly configured ROS Melodic environment. The integration of these tools allows for a robust and modular robotic system suitable for indoor navigation tasks.

Setting up project

When you clone the repo. if it doesnt work. delete build and dev folders and rebuild the workspace. Clonning this repo

git clone https://github.com/binadiegha/agileX_limo_10_ws.git

Next, cd into the work space

cd agileX_limo_10_ws

ensure that the ports are accessible

ls /dev/ttyUSB*

this command should list the ports available. it could be /dev/ttyUSB0 or something similar depending on your device. ensure you note and select the correct port. If and access error shows up. run the command below to give write access:

sudo chmod -R 666 /dev/ttyUSB0
##replace USB0 with correct port number

Installing dependencies

Ensure all ros necessary ROS Dependencies are running, if not, intall all ROS dependenceis

sudo apt update
sudo apt install ros-melodic-desktop-full

Next ensure Rviz, python serial and tf are installed on the machine

sudo apt install python3-pip python3-serial
sudo apt install ros-melodic-rviz # for Rviz 
sudo apt-get install ros-melodic-slam-karto # For KartoSLAM
sudo apt-get install ros-melodic-gmapping # For GMapping (optional)
sudo apt-get install ros-melodic-robot-pose-ekf # For odometry estimation
sudo apt-get install ros-melodic-usb-cam # For USB camera support
sudo apt-get install ros-melodic-tf # For coordinate frame transformation

Install more dependencies

Running the project

First ensure that you are using the correct work space.

cd agileX_limo_10_ws
source ~devel/setup.bash

to make this persistent, add the source to your bash file

echo "source ~/agileX_limo_10_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

build the workspace:

catkin_make

Run the project

roslaunch limo_navigation navigation.launch

this command will open Rviz and run all all packages

Contributions

For Issues, please raise an issue in the issues page and for contributions, fork the project and make changes as you see fit. Cheers!