AGV Navigation Project

This project leverages ROS 2 (Humble), Slam Toolbox, and Nav2 for autonomous navigation of an AGV.

Prerequisites

Ensure you have the following installed:

• Slam Toolbox: https://roboticsbackend.com/ros2-nav2-generate-a-map-with-slam_toolbox/
• Nav2 Toolbox: https://navigation.ros.org/
• ROS 2 Humble: https://docs.ros.org/en/humble/index.html

Setup Instructions

1. Install Dependencies Make sure all required dependencies are installed on your system.

2. Configure SLAM Toolbox Update the SLAM Toolbox configuration file:

   cd /opt/ros/humble/share/slam_toolbox/config/
   sudo nano mapper_params_online_async.yaml
   

   Adjust parameters as needed.

3. Launch the AGV Controller Run the following commands to start the AGV controller:

   ros2 launch agv_launch/launch.py
   ros2 launch lakibeam1 lakibeam1_scan_launch.py
   

4. Run SLAM Program Start the SLAM program by executing the appropriate launch file.

5. Run Nav2 Program Launch the Nav2 navigation stack for path planning and control.

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Video Example

a5f214da-0ed7-4e37-97ce-098324fae636.mp4