ROS_differential_drive_robot

This is a ROS simulation of various common robot behaviours namely :

1. Obstacle avoidance
2. Wall following
3. Go to goal
4. Bug 0
5. ROS navigation stack for autonomous navigation namely: 5.1 Gmapping 5.2 AMCL 5.3 Move Base

Last tested on : ROS Noetic Ubuntu 20.04

FOr running the simulations copy file to your ros workspace and after running catkin_make, open the terminal and run :

$ roslaunch diff_description bug0.launch 

For autonomous navigation run :

$ roslaunch diff_navigation diff_robot_navigation.launch

The Robot

Simple 2 wheel drive differential robot, with a hokuyo lidar simulated for range measurements.

The obstacle world

Bug 0 behaviour

for more info visit : https://www.cs.cmu.edu/~motionplanning/lecture/Chap2-Bug-Alg_howie.pdf