SLAMurai — SLAM Project using ROS 2 (HUMBLE VERSION)

For JAZZY Version, change the branch to ROS2_JAZZY.

This repository contains a complete SLAM pipeline for a differential drive robot using ROS 2, simulated in Gazebo or deployed on hardware. It uses SLAM Toolbox, Nav2 stack, and custom control nodes.

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Workspace Structure

slamurai_ws/
├── src/
│   ├── slamurai_description
│   ├── slamurai_controller
│   ├── slamurai_mapping
│   ├── slamurai_firmware
│   ├── slamurai_localization
│   └── ... (other packages)

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Setup Instructions

1. Clone the Repo

cd ~/slamurai_ws/src
git clone https://github.com/RobosocNITH-ROS/SLAM_CAR.git

2. Install Dependencies

cd ~/slamurai_ws
rosdep install --from-paths src --ignore-src -r -y

Make sure you have required system packages too:

sudo apt update
sudo apt install python3-colcon-common-extensions ros-humble-navigation2 ros-humble-slam-toolbox

Replace humble with your ROS 2 distro if different.

3. Build the Workspace

cd ~/slamurai_ws
colcon build --symlink-install
source install/setup.bash

4. Launch Simulation or Hardware

For Gazebo Simulation:

ros2 launch slamurai_description gazebo.launch.py

For Hardware Interface:

ros2 launch slamurai_firmware hardware_interface.launch.py

For LIDAR Hardware Only:

ros2 launch slamurai_localization lidar.launch.py

5. Launch Controller

ros2 launch slamurai_controller controller.launch.py

6. Launch SLAM Toolbox

ros2 launch slamurai_mapping slam.launch.py

7. Start Teleoperation

ros2 run slamurai_controller teleop_custom.py

8. Launch RViz for Visualization

rviz2

Add the following plugins manually:

• RobotModel
• TF
• LaserScan (select /scan topic)
• Map
• Pose
• Odometry
• Global/Local Costmaps (if using Nav2 later)
• SLAM Toolbox GUI (optional)

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Notes

• Ensure all sensors (e.g., LIDAR, IMU) are publishing to correct topics.
• Check TF tree using ros2 run tf2_tools view_frames if transforms are missing.
• Use ros2 topic echo <topic_name> for debugging topic data.

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Future Extensions

• Add Nav2 Navigation stack for autonomous navigation.
• Integrate camera and ArUco marker detection.
• Use MoveIt for robotic arm control (if available).