The aim of the project is to make robot perform autonomous navigation in known 2D map. Localization is performed using AMCL package. User can give navigation goals by using move_base package.

Robot is navigating autonomously

• my_robot: Which includes robot model, 2D map, AMCL and move_base parameters, rviz configuration.

• map_server: Which publishes /map topic.
• move_base: Which subscribes to /map, /tf, /scan, /odom topic and publishes /cmd_vel topic.
• amcl: Which subscribes to /scan topic and publishes /tf topic.

Rosgraph of the project

roslaunch my_robot world.launch
roslaunch my_robot amcl.launch