📚 Pickasso Navigation Stack

This repository contains the ROS Navigation Stack setup for the Pickasso Robot, supporting simulation in Gazebo and deployment on TurtleBot3 Waffle Pi.

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🚀 Features

• AMCL Localization
• move_base Path Planning with DWA Planner
• Obstacle Avoidance
• Gazebo Office Simulation Environment
• Real-World Ready Costmaps

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📦 Installation

cd ~/catkin_ws/src
git clone https://github.com/AapseMatlb/pickasso_navigation_stack.git
cd ~/catkin_ws && catkin_make
source devel/setup.bash

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📚 Usage

Simulation:

roslaunch pickasso_navigation_stack simulation_world.launch

Navigation:

roslaunch pickasso_navigation_stack navigation.launch

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🛠️ Real-World Deployment Steps

1. Create map using SLAM.
2. Save map using map_saver.
3. Launch navigation using saved map.

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📖 Additional Features (New)

• Autonomous Mapping and Exploration
• Obstacle Avoidance Using LiDAR
• Battery Monitoring and Position Saving
• Preloaded Office Map for SLAM Testing
• ROS Launch File for Easy Execution

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📦 Dependencies

Ensure the following ROS packages are installed:

sudo apt install ros-<distro>-rospy ros-<distro>-geometry-msgs ros-<distro>-sensor-msgs ros-<distro>-nav-msgs

Replace <distro> with your ROS distribution (e.g., noetic).

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▶️ How to Run

1. Build the Workspace:

cd ~/catkin_ws
catkin_make
source devel/setup.bash

2. Run the Auto-Mapping Script:

roslaunch pickasso_navigation_stack auto_mapping.launch

3. View the Predefined Map:

rosrun map_server map_server ~/catkin_ws/src/pickasso_navigation_stack/auto_mapping/maps/office_map.yaml

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📖 Map Details

• Resolution: 0.05 m/pixel
• Origin: [-5.0, -5.0, 0.0]
• Thresholds:
  • Occupied: 0.65
  • Free: 0.196

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🛠️ Future Enhancements

• Integration with RViz and MoveIt!
• Multi-Room Mapping and Navigation
• Human-Robot Interaction for Permission-Based Actions

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📄 License

This project is licensed under the MIT License.