Test_bot: An Implementation of Autonomous Navigation

To run the simulation, source the workspace in the terminal:

source install/setup.bash
ros2 launch Test_bot launch_sim.launch.py use_sim_time:=true

For RViz visualization of the LiDAR, open another terminal and run:

rviz2 -d src/Test_bot/config/drive_bot.rviz

You can use teleop commands to control the Test_bot. Run the following in another terminal:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

For SLAM, open another terminal and run the following command. Then, tick the map option in RViz, which subscribes to the /map topic:

ros2 launch slam_toolbox online_async_launch.py params_file:=src/Test_bot/config/mapper_params_online_async.yaml use_sim_time:=true

For Nav2, open another terminal and run the following. Then, tick the other map option in RViz, which subscribes to the /global_costmap/costmap topic:

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true

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