A ROS 2-based navigation system written in C++. It maps the environment, plans routes with A* on a costmap, follows the planned path, and stops when new obstacles appear in front of the robot.
This project explores autonomous robot navigation with ROS 2, sensor-based mapping, costmap path planning, path tracking, and obstacle-aware emergency stopping.
- Sensor-based environment mapping
- A* path planning on a costmap
- Interpolated paths for smoother following
- Path following with orientation tracking
- Emergency stop when obstacles appear ahead
- Goal input through RViz or custom interfaces
- ROS 2, rclcpp, ament_cmake
- C++23, CMake
- nav_msgs, geometry_msgs, sensor_msgs, std_msgs
- tf2_ros, tf2_geometry_msgs
- message_filters
- ALGLIB, kobuki_ros_interfaces