Learn to build your own autonomous robot using ROS

  • ROS installation
  • Make a urdf for two wheeled differential drive
  • Moving the robot using your keyboard
  • Configuring and using SLAM for mapping the given environment
  • configuring and using move_base and AMCl for autonomous navigation and path planning by avoiding obstacles

ROS installation

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-desktop-full
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
source /opt/ros/melodic/setup.bash
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdepsudo rosdep init
rosdep update
source /opt/ros/melodic/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH
/home/youruser/catkin_ws/src:/opt/ros/melodic/share
cd ~/catkin_ws/src
catkin_create_pkg sk std_msgs rospy roscpp

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