Mobile Robots for Critical Missions Project

Source code for the project work of Mobile Robots for Critical Missions.

Requirements

Python version: 3.10
Python libraries for QReader: pyzbar, pytorch, qrdet, numpy
Python software suite for QReader: zbar-tools, to install through sudo apt-get install zbar-tools command.

How to launch

First of all the localization, nav2 and rviz node should be brought up, by using the startup launch file created: ros2 launch planner_pkg startup_launch.py And if all the nodes are started correctly, the discovery and planner package are needed to correctly solve the task: ros2 launch discovery_pkg discovery_launch.py ros2 launch planner_pkg planner_launch.py

If the task should be performed in a simulation environment, the gazebo simulator will be used, by launching:

ros2 launch diem_gazebo turtlebot4_ignition_no_dock.launch.py x:=-6.3 y:=0.0 world:=diem_map

When all the nodes are up, use Rviz2 to estimate the initial pose and then the navigation will start.

Video Example

MR_kidnap.mp4