This development includes of methods self-driving in indoor environment with used SLAM navigation rplidar A2

Authors: Dmitry Devitt, Konovalov Georgy
Maintainer: Dmitry Devitt, [email protected]
Affiliation: Raccoonlab, Rirpc Sfedu

In current version, the platform has a lidar rplidar A2 and gyro MPU6050 (optional).

• remote controll via ros_node
• ros_node for remote controll with joystick
• hector_mapping SLAM
• added Imu data from gyroscope MPU6050
• added AMCL
• added Imu data from flight controller (cc3d via mavros)
• added support teb_local_planner
• added pose controller
• swarm control: swarm-control branch
• added px4 navigation

• add odometry using optical encoders (optional)