In this project, I have modelled a basic 2 wheeled bot structure using Fusion 360 and exported the CAD model into ros using a python script that converts ROS Fusion files into ROS packages which includes the basic launch files to launch the bot in Gazebo and Rviz. After which we model the environment for our bot to interact with.
Open up a terminal and copy the following command
Step-1: Run catkin_make in your terminal
<ROS_workspace_location>$catkin_make
Open up another terminal and execute the following command
Step-2: Launching the bot into Gazebo
$roslaunch New_bot_description gazebo.launch
Step-3: Launching all the necessary navigation files
$roslaunch New_bot_description new_bot_nav.launch
After launching, you need to use the 2D nav goal tool in Rviz and the bot will plan the path and avoid objects.
NOTE: Please ignore Gazebo's warning of package names starting with a capital letter as it does not affect the performance of the bot.