2D-LiDAR SLAM Robot

Overview

A ROS1 Noetic-based differential drive robot with LiDAR SLAM capabilities for autonomous navigation.

Software Requirements

• ROS1 Noetic
• Gazebo
• SLAM Toolbox
• Xacro
• RViz

Hardware Setup

<will update here later!>

Package Structure

lidarbot/
├── launch/
│   ├── launch_sim.launch
│   └── rsp.launch
├── urdf/
│   ├── robot.urdf.xacro
│   ├── robot_core.xacro
│   ├── inertial_macros.xacro
│   ├── gazebo_control.xacro
│   └── lidar.xacro
├── scripts/
│   └── lidar_check.py
├── config/
│   └── mapper_params_online_async.yaml
└── worlds/
    └── empty.world

Installation

cd ~/catkin_ws/src
git clone <repository_url>
cd ~/catkin_ws
catkin_make
source devel/setup.bash

Make sure you change the catkin package name in launch_sim.launch and rsp.launch(current pkg name: lidarbot)

Running Simulation

roslaunch lidarbot launch_sim.launch
roslaunch slam_toolbox online_async.launch params_file:=./src/lidarbot/config/mapper_params_online_async.yaml use_sim_time:=true

Configuration

• Modify urdf/robot.urdf.xacro for robot description
• Adjust config/mapper_params_online_async.yaml for SLAM parameters

Troubleshooting

• Ensure correct TF frames
• Check LiDAR and odometry configurations

Future Improvements

• Add navigation stack
• Implement autonomous navigation