SLAMBot ROS

Overview

SLAMBot is a robotic system designed to navigate and map its environment using Simultaneous Localization and Mapping (SLAM) techniques. This project integrates various components, including a time-of-flight laser distance sensor, probabilistic occupancy grids, and advanced pathfinding algorithms, all managed within the Robot Operating System (ROS2).

Table of Contents

• Features
• Installation
• Usage
• Directory Structure
• Contributing
• License

Features

• Real-time Mapping: Utilizes probabilistic occupancy grids for accurate environmental mapping.
• Pathfinding: Implements the A* algorithm for efficient navigation.
• Modular Design: Easily replace or upgrade components with a plug-and-play approach.
• ROS2 Integration: Fully integrated with ROS2 for seamless communication and control.

Installation

To set up the SLAMBot ROS project, follow these steps:

1. Clone the Repository:

   git clone https://github.com/NexusAurora/SLAMBot_Ros.git
   cd SLAMBot_Ros

2. Install Dependencies: Navigate to the src/lidar_navigation directory and install the required Python packages:

   cd src/lidar_navigation
   pip install -r requirements.txt

3. Build the Package: From the root of the workspace, build the package using:

   colcon build

4. Source the Setup File: After building, source the setup file:

   source install/setup.bash

Usage

To run the SLAMBot, launch the ROS2 nodes as follows:

1. Launch the Navigation Node:

   ros2 run lidar_navigation navigation

2. Launch the Pathfinding Node:

   ros2 run lidar_navigation path_finder

3. Visualize in RViz: Open RViz to visualize the robot's mapping and navigation:

   rviz2 -d rviz_config.rviz

Directory Structure

SLAMBot_Ros/
│   rosgraph.png
│   rviz_config.rviz
│   slam.code-workspace
│
└───src
    └───lidar_navigation
        │   package.xml
        │   setup.cfg
        │   setup.py
        │
        ├───lidar_navigation
        │   │   calibration_model.pth
        │   │   driver.py
        │   │   movement_weights.npy
        │   │   navigation.py
        │   │   path_finder.py
        │   │   requirements.txt
        │   │   settings.py
        │   │   update_grids.py
        │   │   __init__.py
        │   │
        │   ├───utilities
        │   │   │   model.py
        │   │   │   movement.py
        │   │   │   openCV_display.py
        │   │   │   particle_filter.py
        │   │   │   particle_filter_manual.py
        │   │   │   path_finding.py
        │   │   │   plotter.py
        │   │   │
        │   │   └───__pycache__
        │   │           model.cpython-310.pyc
        │   │           movement.cpython-310.pyc
        │   │           particle_filter.cpython-310.pyc
        │   │           path_finding.cpython-310.pyc
        │   │           plotter.cpython-310.pyc
        │   │
        │   └───__pycache__
        │           settings.cpython-310.pyc
        │
        ├───resource
        │       lidar_navigation
        │
        └───test
                test_copyright.py
                test_flake8.py
                test_pep257.py

Contributing

Contributions are welcome! If you have suggestions for improvements or new features, please fork the repository and submit a pull request.

License

This project is licensed under the MIT License. See the LICENSE file for details.