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Differential‑Drive‑ROS2‑Navigation‑Project

A complete SLAM, localization, and navigation pipeline for a four‑wheeled differential‑drive robot using ROS 2 Humble, Gazebo (Harmonic), SLAM Toolbox, AMCL, and Nav2.

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🚀 Features

• SLAM Mapping Build a 2D occupancy map of your environment with SLAM Toolbox.
• Localization Track the robot’s pose on the map using AMCL (Adaptive Monte Carlo Localization).
• Autonomous Navigation Plan and follow paths with obstacle avoidance via the Nav2 stack.
• Simulation Run everything in Gazebo (Harmonic) on a differential‑drive robot model.
• Visualization View real‑time maps, paths, and TF frames in RViz 2.
• Camera Monitoring Stream and control a gimbal‑mounted camera with rqt_image_view.
• TF Inspection Inspect transform trees using tf2_tools view_frames.

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🎯 Prerequisites

• OS: Ubuntu 22.04 LTS

• ROS 2 Distribution: Humble Hawksbill

• Gazebo: Ignition (Harmonic)

• Tools:

  • RViz 2
  • rqt_image_view
  • tf2_tools

• ROS 2 Packages:

  • slam_toolbox
  • nav2_bringup
  • nav2_amcl
  • gazebo_ros
  • teleop_twist_keyboard

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🏗️ Repository Structure

Differential-Drive-ROS2-Navigation-Project/
├── Armo_bringup/
│   ├── launch/
│   │   ├── Armo_display.launch.xml
│   │   ├── Armo_display_map.launch.xml
│   │   └── Armo_display_navigation.launch.xml
│   ├── CMakeLists.txt
│   └── package.xml
└── Armo_description/
    ├── urdf/
    │   ├── base_mobile.xacro
    │   ├── base_mobile_2.xacro
    │   ├── base_mobile_3.xacro
    │   ├── common_properties.xacro
    │   ├── robot_base.urdf.xacro
    │   └── robot_gazebo.xacro
    ├── config/
    │   ├── ekf.yaml
    │   ├── gazebo_bridge.yaml
    │   ├── gazebo_bridge_2.yaml
    │   ├── param_nav2.yaml
    │   └── Slam_param.yaml
    ├── maps/
    │   ├── Maze.pgm
    │   └── Maze.yaml
    ├── rviz/
    │   ├── rviz_config.rviz
    │   └── rviz_config_nav2.rviz
    ├── world/
    │   ├── Maze.sdf
    │   └── Maze.world
    ├── CMakeLists.txt
    └── package.xml

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⚙️ Installation & Build

1. Clone & Build

   mkdir -p ~/Humobotss_ws/src
   cd ~/Humobotss_ws/src
   git clone https://github.com/Humobot1812/Differential-Drive-ROS2-Navigation-Project.git
   cd ~/Humobotss_ws
   colcon build

2. Source ROS 2

   source /opt/ros/humble/setup.bash
   source ~/Humobotss_ws/install/setup.bash

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🛰️ Usage

1. Visualize in Gazebo & RViz

ros2 launch Armo_bringup Armo_display.launch.xml

2. Mapping & Localization

• Start mapping

  ros2 launch Armo_bringup Armo_display_map.launch.xml

• Drive the robot

  ros2 run teleop_twist_keyboard teleop_twist_keyboard

• Save your map

  ros2 run nav2_map_server map_saver_cli -f src/Armo_description/maps/New_map

3. Camera Feed & Gimbal Control

• View camera stream

  ros2 run rqt_image_view rqt_image_view

• Adjust camera angle

  ros2 topic pub --once /joint0/cmd_pos std_msgs/msg/Float64 "data: <angle>"

  Replace <angle> between -1.57 (−90°) and 1.57 (+90°).

4. Autonomous Navigation

• Use a custom map

  1. Place your *.yaml and *.pgm files in Armo_description/maps/.

  2. Edit line 30 of Armo_bringup/launch/Armo_display_navigation.launch.xml:

     <arg name="map" value="$(find-pkg-share Armo_description)/maps/YourMap.yaml"/>

  3. Rebuild:

     colcon build --packages-select Armo_description Armo_bringup --symlink-install
     source install/setup.bash

• Launch navigation

  ros2 launch Armo_bringup Armo_display_navigation.launch.xml

5. TF Transform Tree

ros2 run tf2_tools view_frames

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📺 YouTube playlist: 👉 https://youtube.com/playlist?list=PLQcgql__dXrdPEn6yGiKLtTjNABXvn0qj&si=7mCUgBNOuYI-Tjis

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🤝 Contributing

Feel free to fork, file issues, or submit pull requests. Happy experimenting!

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📜 License

This project is licensed under the MIT License. See LICENSE for details.