Fish Robot ROS2 Navigation System

A comprehensive ROS2 (Jazzy) navigation stack for a biomimetic fish robot featuring SLAM, localization, and autonomous navigation using Gazebo Harmonic simulation, SLAM Toolbox, and Nav2.

Overview

This repository contains a complete navigation solution for a fish robot that combines:

• Biomimetic Motion: Fish-like undulating motion control
• SLAM Mapping: Real-time map building using SLAM Toolbox
• Localization: Pose estimation in known environments
• Autonomous Navigation: Path planning and obstacle avoidance with Nav2
• Simulation: Full Gazebo Harmonic integration

The system is designed for ROS2 Jazzy and uses modern navigation tools to enable autonomous operation of a unique biomimetic robot platform.

Repository Structure

Fish-Robot-ROS2/
├── assets/                    # Result images and screenshots
│   ├── spawn_robot_gazeebo.png
│   ├── mapping.png
│   ├── localization.png
│   └── navigation.png
├── src/                       # ROS2 packages
│   ├── fishy_fish_navigation/      # Main navigation package
│   ├── fishy_fish_navigation_py/  # Python utility package
│   └── README.md                   # Detailed documentation
└── README.md                  # This file

Key Features

• 🐟 Biomimetic Motion: Sinusoidal tail undulation for natural fish-like movement
• 🗺️ SLAM Mapping: Real-time map building with loop closure
• 📍 Localization: Accurate pose estimation using pre-built maps
• 🧭 Autonomous Navigation: Nav2-based path planning and execution
• 🎮 Gazebo Simulation: Full physics simulation with sensors (LiDAR, IMU, Camera)
• 🔧 Modular Design: Separate packages for core functionality and utilities

Quick Start

Prerequisites

• ROS2 Jazzy
• Gazebo Harmonic
• Required ROS2 packages:
  • nav2_bringup
  • slam_toolbox
  • robot_localization
  • ros_gz_sim
  • ros_gz_bridge

Building

cd Fish-Robot-ROS2
colcon build --symlink-install
source install/setup.bash

Running

1. Spawn Robot in Gazebo:

ros2 launch fishy_fish_navigation spawn_robot.launch.py

2. Start Mapping:

ros2 launch fishy_fish_navigation mapping.launch.py

3. Start Navigation:

ros2 launch fishy_fish_navigation navigation_with_slam.launch.py

For detailed documentation, see src/README.md.

Visual Results

Robot Spawned in Gazebo

The fish robot model spawned in the Gazebo simulation environment with all sensors active (LiDAR, IMU, Camera).

SLAM Mapping

Real-time SLAM mapping in progress. The robot builds a map of the environment using LiDAR scans while exploring the world.

Localization

Robot localizing itself in a pre-built map. The pose estimate is shown with uncertainty visualization, allowing the robot to know its position in the known environment.

Autonomous Navigation

Autonomous navigation in action. Nav2 plans paths to goals while avoiding obstacles, using both global and local costmaps for safe navigation.

Documentation

For comprehensive documentation including:

• Detailed node descriptions
• Launch file explanations
• Configuration guides
• Troubleshooting tips
• Complete workflow diagrams

Please refer to src/README.md.

Packages

fishy_fish_navigation

Main navigation package containing launch files, configurations, robot models, and core nodes.

fishy_fish_navigation_py

Python utility package providing command-line tools for:

• Map loading
• Initial pose setting
• Waypoint navigation

License

Apache License 2.0

Maintainer

Asim Khan ([email protected])

Acknowledgments

Built with:

• ROS2 Jazzy
• Gazebo Harmonic
• SLAM Toolbox
• Nav2 Navigation Stack
• Robot Localization