gyiptgyipt / loc_diff

robot_localization , GPS , Mapviz and Nav2 gps ( ros2 humble)

The package name means (localization + differential wheeled robot)

navigation2_gps_waypoints_follower_tutorials

Tutorial code referenced from https://navigation.ros.org/

This custom robot integrated with gps,imu,depth_camera plugins.(You can find the plugin integration in description/urdf/black_donut.xacro)

-Add the Sonoma_Raceway model zip file to your ~/.gazebo/model/ and extrect it to load in the gazeo world.

-Run gazebo default(empty_world) and find Sonoma_Raceway in insert tab in the top-left corner of gazebo. -And Save that world in (your_workspace)/gazebo/world/ and name that world as 'sonoma_raceway.world'

For tile map for the mapviz (follow that instruction of below repo)

-tile_map_docker

Build the package in your workspace.

-go to your workspace

colcon build --symlink-install

source install/setup.bash

Now you can launch the sensors integrated robot simulation

ros2 launch rlbd_gazebo black_donut_sim_ros2_control.launch.py

ros2 launch rlbd_gazebo mapviz.launch.py

ros2 launch rlnav2 gps_waypoint_follower.launch.py

YOUTUBE_VIDEO

Free to ask me anytime if something was wrong, I love to help you guys <3

..........<to_continue>........

TODO : -need to tune robot localization -to add gps waypoint logger and follower