ROS2 Navigation Stack

ROS 2-based navigation system with mapping, path planning, and path following nodes. A user can set a goal position, and the robot will autonomously navigate to it while avoiding obstacles along the way.

✨ Features

• Mapping – Generates a map of the environment using onboard sensors.
• Path Planning – Calculates an optimal path from the robot’s current position to the goal using the A* algorithm on a costmap.
• Path Following – Executes the planned path, dynamically avoiding obstacles, with emergency stop if a new obstacle appears directly in front of the robot.
• Supports goal input via RViz or custom interfaces.

🖼 Example Output

The path planning module uses A* on a costmap to compute an optimal route to the goal.

• Black line – Path computed by the A* algorithm.
• Red line – Interpolated path for smoother following.

The following plot compares the desired and measured robot orientation during path following, as well as the tracking error.

🎥 Demo

📦 Requirements

• ROS 2
• nav_msgs, geometry_msgs, sensor_msgs, tf2_ros
• A robot setup with odometry and sensor data (e.g., LiDAR)

▶️ Usage

Start mapping

ros2 launch mapping mapping.launch.py  

Start path_planning

ros2 launch path_planning path_planning.launch.py

Start path_following

ros2 launch path_following path_following.launch.py