This project is a ROS 2-based Ackermann-steered autonomous ground vehicle capable of performing real-time SLAM and autonomous navigation in dynamic environments. It integrates ROS 2 Control for hardware interface, SLAM Toolbox for mapping and localization, and Nav2 for path planning and obstacle avoidance.
- Ackermann steering kinematics
- Real-time SLAM using SLAM Toolbox
- Autonomous navigation using Nav2
- Dynamic obstacle avoidance
- ROS 2 Control integration for motor and servo interfaces
- Supports RViz2 visualization
- URDF-based robot model with accurate transforms
| Component | Package / Framework |
|---|---|
| OS | Ubuntu 22.04 |
| ROS 2 Version | Humble |
| SLAM | SLAM Toolbox |
| Navigation | Nav2 |
| Control | ros2_control + hardware_interface |
| Visualization | RViz2 |
[Sensors: LIDAR, IMU, Encoders]
|
v
[ROS 2 Hardware Interface (ros2_control)]
|
v
[Base Controller (ackermann_steering_controller)]
|
v
[tf2 + odom -> base_link]
|
v
[SLAM Toolbox] <--> [Map Server]
|
v
[Nav2 Stack] <---> [Costmaps + Planners + Controllers]
