ROS | Husky Map-Less Navigation [Tutorial]

Описание: This video demonstrates the simulation of autonomous map-less navigation of Husky in Gazebo (3D Robot Simulator) using Robot Operating System (ROS).

Husky uses its LIDAR scan (indicated as red points in RViz) to generate a costmap (occupancy grid) of its environment (indicated as light blue, dark blue, purple, gray and black patches in RViz), based on which it navigates autonomously with the help of intelligent path planning and control algorithms. Specifically, Husky uses Dijkstra's Algorithm for global planning (indicated as green path in RViz) and Dynamic Window Approach (DWA) for local re-planning (indicated as yellow path in RViz). The controller then computes linear and angular velocities for the robot to track its local trajectory, which are converted to joint velocities using inverse kinematics (IK) and passed on to the actuators so that the robot drives towards its goal while avoiding any obstacles in its way. The actual path traversed by the robot is determined based on odometry data (indicated as red vectors in RViz).

All the instructions and code is available at: https://github.com/Tinker-Twins/Husky

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Specifications:
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OS: Ubuntu 20.04
ROS: ROS Noetic
Package: Husky