Table Of Contents

1. Robot Configuration
2. Gazebo
3. Mapping
4. Navigation
5. Referances
6. Result

1 Robot Configuration

• clone AutonomousNavigation repository to your machine.

Workspace Configuration

mkdir -p AutonomousNavigation/src
cd catkin_ws/src
git clone https://github.com/khaledgabr77/AutonomousNavigation.git
cd ..
catkin_make

rosdep install --from-paths src --ignore-src -r -y

2 Gazebo

roslaunch unit3_pp simulation_pura.launch

3 Mapping

roslaunch pura_navigation pura_gmapping.launch
roslaunch pura_description pura_model.launch
rosrun map_server map_saver -f ~/<folder_name>/<map_name>

4 Navigation

roslaunch unit3_pp simulation_pura.launch

roslaunch unit3_pp unit3_astar_solution.launch 

5 Refrances

https://brilliant.org/wiki/a-star-search/

https://www.101computing.net/a-star-search-algorithm/

http://wiki.ros.org/global_planner

http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS

http://wiki.ros.org/urdf/Tutorials

http://wiki.ros.org/gmapping

http://wiki.ros.org/move_base

https://github.com/rfzeg/path_planning_intro

6 Result

Test video

implementation by Roberto Zegers R.