Simple Autonomous Robot (ROS 2)

This project simulates a simple autonomous robot equipped with LIDAR-based obstacle avoidance, developed using ROS 2. The system is designed to navigate autonomously by detecting obstacles, performing proportional control, and avoiding collisions.

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Features

• LIDAR Sensor Simulation – Simulates real-world LIDAR behavior with noise and adjustable parameters.
• Obstacle Avoidance – Dynamic adjustment of linear and angular speeds based on obstacle distance.
• Recovery Behavior – Reverses or re-orients the robot upon encountering close-range obstacles.
• Dynamic Configuration – YAML-based parameter tuning for sensor range, speed, and avoidance thresholds.
• Fault Tolerance – Automatically restarts nodes if they crash during runtime.
• Flexible Launch System – Parameterized launch files for easy customization and real-time adjustments.

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Project Structure

ros2_ws/
└── src/
    └── simple_autonomous_robot/
        ├── config/
        │   ├── lidar_params.yaml
        │   └── controller_params.yaml
        ├── simple_autonomous_robot/
        │   ├── __init__.py
        │   ├── lidar_sensor.py
        │   ├── robot_controller.py
        │   └── movement.py
        ├── launch/
        │   └── robot_launch.py
        ├── resource/
        │   └── simple_autonomous_robot
        ├── setup.py
        ├── package.xml
        └── setup.cfg

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How to Build and Run

1. Build the Package

cd ~/ros2_ws
colcon build
source install/setup.bash

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2. Launch the Robot

ros2 launch simple_autonomous_robot robot_launch.py

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3. Customize Parameters at Launch

ros2 launch simple_autonomous_robot robot_launch.py linear_speed:=0.5 angular_speed:=1.0

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YAML Configuration Files

LIDAR Configuration (lidar_params.yaml)

/**:
  lidar_sensor:
    ros__parameters:
      range_min: 0.1
      range_max: 10.0
      angle_min: -1.57
      angle_max: 1.57
      angle_increment: 0.01
      noise_level: 0.05

Controller Configuration (controller_params.yaml)

/**:
  robot_controller:
    ros__parameters:
      linear_speed: 0.3
      angular_speed: 0.7
      obstacle_distance_threshold: 1.0
      recovery_behavior: true

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Dependencies

• ROS 2 (Humble or newer)
• Python 3.8+
• sensor_msgs and geometry_msgs

Install dependencies:

rosdep install --from-paths src --ignore-src -r -y

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