Autonomous Navigation Workspace

This repository contains four ROS 2 packages designed to enable autonomous navigation by performing lane detection, GPS transformation, pathfinding, and navigation command execution. Below is a brief description of each package along with their respective commands.

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1. Lane Detection (lane_detection)

This package processes camera images to detect lanes. It performs binary thresholding and DBSCAN clustering to identify lane markings. The outputs include:

• Largest Lane Image: An image showing the largest detected lane.
• Combined Lane Image: An image with both lanes if detected.
• Lane Width: Published only when both lanes are detected.

Command:

ros2 run lane_detection lane_finder

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2. GPS Transformer (gps_transformer)

This package transforms GPS coordinates (specifically for a no man's land scenario) into map coordinates for navigation.

Commands:

1. Publish GPS Coordinates:

   ros2 run gps_transformer gps_publisher

2. Transform GPS to Map Coordinates:

   ros2 run gps_transformer transformer

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3. Path Finder (path_finder)

This package is responsible for generating navigation paths. It utilizes:

• Inverse Perspective Mapping (IPM): To rectify and process the lane image.
• Curve Fitting: To generate smooth paths for navigation.

Commands:

1. Run IPM:

   ros2 run path_finder ipm

2. Publish Path using Curve Fitting:

   ros2 run path_finder path_publisher.py

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4. Navigation Commander (nav_commander)

This package handles path publishing for the navigation stack (nav2). It supports two modes:

• Normal Path Publishing: Sends paths to the navigation stack.
• Path Publishing with GPS Integration: Combines GPS data with pathfinding for enhanced navigation.

Commands:

1. Publish Path to nav2:

   ros2 run nav_commander go

2. Publish Path with GPS Integration:

   ros2 run nav_commander go_with_gps

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