ros_autonomous_slam

(★ 270)

ROS package which uses the Navigation Stack to autonomously explore an unknown environment with help of GMAPPING and constructs a map of the explored environment. Finally, a path planning algorithm from the Navigation stack is used in the newly generated map to reach the goal. The Gazebo simulator is used for the simulation of the Turtlebot3 Waffle Pi robot. Various algorithms have been integrated for Autonomously exploring the region and constructing the map with help of the 360-degree Lidar sensor. Different environments can be swapped within launch files to generate a map of the environment.

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- c_cpp_properties.json
- settings.json
- functions.h
- mtrand.h
- all_launch.txt
- autonomous_explorer.launch
- BUG_WALLFOLLOW.launch
- RRT.launch
- turtlebot3_empty_world.launch
- turtlebot3_navigation.launch
- turtlebot3_slam.launch
- turtlebot3_world.launch
- my_map.pgm
- my_map.yaml
- 2d_nav_goal_button.png
- 2d_pose_button.png
- gmapping.gif
- gmapping1.gif
- gmapping2.gif
- my_map.png
- navigation3.gif
- navigation4.gif
- points_seq.png
- RRT.gif
- rrt_boundary.jpg
- rrt_boundary2.jpg
- rrt_plane.gif
- rrt_propagation.jpg
- rrt_robot.png
- waffle_pi2.png
- PointArray.msg
- a_star_main.py
- autonomous_move.py
- autonomous_rrt.py
- move_base.py
- rrt.py
- rrt.pyc
- rrt_single.py
- test.py
- wall_follow.py
- turtlebot3_gmapping.rviz
- turtlebot3_navigation.rviz
- - c_cpp_properties.json
  - settings.json
- assigner.py
- filter.py
- frontier_opencv_detector.py
- functions.py
- functions.pyc
- getfrontier.py
- functions.cpp
- global_rrt_detector.cpp
- local_rrt_detector.cpp
- mtrand.cpp
- empty.world
- turtlebot3_house.world
- turtlebot3_world.world
CMakeLists.txt
LICENSE
package.xml
README.md

# Installation Guide

1. Get the code

git clone https://github.com/fazildgr8/ros_autonomous_slam

Downloads the entire project code from GitHub to your computer.

cd ros_autonomous_slam

Moves into the project folder you just downloaded.

2. Official Install Script

Easy Recommended

Prerequisites

APT (Debian/Ubuntu 계열) Built into Debian/Ubuntu-based Linux distributions.

sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control

Installs directly from the APT package repository (Debian/Ubuntu-based).

sudo apt-get install ros-melodic-turtlebot3-msgs

Installs directly from the APT package repository (Debian/Ubuntu-based).

sudo apt-get install ros-melodic-turtlebot3

Installs directly from the APT package repository (Debian/Ubuntu-based).

sudo apt-get install ros-melodic-navigation

Installs directly from the APT package repository (Debian/Ubuntu-based).

✅ After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.

Pulled directly from this repo's README.

3. CMake

Medium

Prerequisites

Git Needed to download the project code from GitHub.
CMake The tool used to generate build configuration.
C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.

mkdir build && cd build

Creates a folder to hold the build output and moves into it.

cmake ..

Analyzes the source code and generates build configuration files (must be run inside the build folder).

make

Compiles the code based on the generated build configuration to produce an executable.

✅ Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).