Turtle Navigator - ROS2 Autonomous Navigation

Overview

This ROS2 package demonstrates autonomous navigation using Turtlesim. The turtle navigates to random waypoints and avoids obstacles represented by additional turtles in the environment.

Features

• Autonomous waypoint navigation
• Dynamic speed control using ROS2 parameters
• Obstacle avoidance with real-time feedback
• Modular design with separate navigation and obstacle management

Demo

Installation

1. Clone this repository into your ROS2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/SuperGops7/turtle_navigator.git

2. Build the package:

   cd ~/ros2_ws
   colcon build

3. Source the workspace:

   source install/setup.bash

Running the Simulation

1. Start the Turtlesim node:

   ros2 run turtlesim turtlesim_node

2. Run the move_turtle node:

   ros2 run turtle_navigator move_turtle

Customization

• Adjust turtle speed:

  ros2 param set /move_turtle linear_speed 1.0
  ros2 param set /move_turtle angular_speed 2.0

• Add obstacles in turtle_obstacle_manager.py by defining additional turtles:

  self.obstacles = [
      {'name': 'turtle2', 'position': [1.0, 7.0]},
      {'name': 'turtle3', 'position': [7.0, 2.0]}
  ]

Class Overview

• MoveTurtle: Manages turtle navigation and obstacle avoidance.
• TurtleObstacleManager: Handles spawning and tracking of obstacle turtles.

Future Improvements

• Add dynamic obstacles or implement path planning for smarter navigation.