Autonomous Mobile Vehicle Using ROS2 and 2D-Lidar and SLAM Navigation

This study describes the use of the SLAM algorithm in autonomous mobile vehicle/robot navigation. The proposed work is organized inside the Robot Operating System (ROS2) architecture. Data visualization is done with Rviz, and vehicle simulation is done with Gazebo. SLAM Toolbox uses laser and odometry data from several sensors for mapping. We have built a small bot which uses Differential Drive Control System. It also uses the Nav2 plugin of ROS2 for navigation from one place to another in the environment by first giving the initial co-ordinates of the robot and then the Goal pose where the robot has to reach. It also implements online asynchronous plugin of ros2 which helps the robot to detect real time change in the map during the navigation so it will change its path if a new object is detected real time