Minimal 2D ROS navigation system including custom OG mapping, motion planning and robot control systems. This package can navigate a robot from point A to B without hitting obstacles.
This package uses laserscan and odometry information
Watch demo
Custom 2D Occupancy Grid Mapping
A* Path Planning and PID robot control
- Change topics at config/mapping.yaml
- run mapping launch to mapping
- run scripts/motion-planning.py for A* algorithm
- run path_follower.py for robot control system
Output is given as Twist message
- Localization is not included and must be provided externally
- Control algorithm assumes robot rotation is based around robots central z-axis