Autonomous navigation of a mobile robot using ROS2 - Humble Hawksbill

• Add this alias to your preferred shell startup script (zsh in my case)

  echo "alias humble=\"source /opt/ros/humble/setup.zsh\"" >> ~/.zshrc

• Source ROS2 installation

   humble

• Check that the environment is properly set up

  printenv | grep -i ros

  You should get an output as follows, along with other environment variables:

  ROS_DISTRO=humble

  ROS_PYTHON_VERSION=3

  ROS_VERSION=2

The official and detailed documentation is accessible through this link.

• Build the package using colcon tool

  colcon build --symlink-install

• Source the local setup file

  source install/local_setup.zsh

• Launch the launch file

  ros2 launch rover_ctrl rover.launch.py

• The launch file launch_sim.launch.py displays the robot in gazebo and publishes the /robot_description and /scan topics to rviz

  ros2 launch rover_ctrl launch_sim.launch.py

• Mapping using SLAM toolbox

  ros2 launch rover_ctrl launch_slam.launch.py

  

• Localization and navigation

  ros2 launch rover_ctrl launch_nav.launch.py