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