Autonomous_Navigation_LIMO

Introduction

This repository contains the LIMO navigation files for autonomous navigation. It uses the ROS Navigation stack to navigate autonomously around vehicles using the dijkstra algorithm for mapping the area to perform navigation around obstacles.

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Prerequisites

• Python 2.X
• ROS
• TurtleBOT3 Gazebo

Usage Instructions

To run the arl.sh script, follow these steps:

1. Run arl.sh Script (RECOMMENDED):

   • Navigate to the directory containing arl.sh.
   • Execute the script using the command:

     ./arl.sh

   OTHERWISE you may choose to execute each command manually which will sequentially start all the necessary Gazebo and program setup commands.

2. Manual Command Execution: Alternatively, you can manually execute the following commands:

   • Start LIMO:

     roslaunch limo_bringup limo_start.launch pub_odom_tf:=false

   • Launch Navigation:

     roslaunch limo_bringup limo_navigation_diff.launch

   • Run emain.py:

     rosrun arena emain.py

   • Execute egui.py:

     rosrun arena egui.py

   • Start poseHub.py:

     rosrun poseHub.py

Choose the method that best fits your workflow. The script provides a convenient one-step option, while manual execution offers more control over each process.

Contact

For any queries, you can reach out to kaushikt2000@gmail.com .