Top AI Repos — open-source AI, indexed and scored
Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
ROS package which uses the Navigation Stack to autonomously explore an unknown environment with help of GMAPPING and constructs a map of the explored environment. Finally, a path planning algorithm from the Navigation stack is used in the newly generated map to reach the goal. The Gazebo simulator is used for the simulation of the Turtlebot3 Waffle Pi robot. Various algorithms have been integrated for Autonomously exploring the region and constructing the map with help of the 360-degree Lidar sensor. Different environments can be swapped within launch files to generate a map of the environment.
| Date | Stars |
|---|---|
| 2026-07-30 | 267 |
| 2026-08-09 | 268 |
| 2026-08-17 | 270 |
| 2026-09-03 | 271 |
| 2026-09-18 | 272 |
| 2026-10-26 | 273 |
| 2026-11-04 | 273 |
Today
— stars today
This week
— stars this week
This month
+1 stars this month
Momentum
0.0
growth rate 0.00%/day
# ros_autonomous_slam This consist of a ROS package which uses the Navigation Stack to autonomously explore an unknown environment with help of GMAPPING and constructs an Map of the explored environment. Finally a pathplanning algorithm from Navugation stack is used in the newly generated map to reach the goal.The Gazebo simulator is used for the simulation of the Turtlebot3 Waffle Pi robot. Various algorithms have been integrated for the Autonomously exploring the region and constructing the map with help of the 360 degree Lidar sensor. Different environments can be swapped within launch files to generate the map of the environment. The current most efficient algorithm used for autonomous exploration is **Rapidly Exploring Random Tree (RRT) algorithm** . The RRT Algorithm is implemented using the package from [rrt_exploration](http://wiki.ros.org/rrt_exploration) which was created to support the Kobuki robots which I further modified the source files and built it for the Turtlebot3 robots in this package. > **You can see the [Towards Data Science Story of this Project](https://mohamedfazilrobotics.medium.com/ros-autonomous-slam-using-randomly-exploring-random-tree-rrt-37186f6e3568)** <img src="media/rrt_robot.png" alt="RRT_ROBOT" class="center" width="600"/> > As this repository is to be updated with more bug free codes as I get requests, please keep reporting the issues and following my updates ### There are three Main steps to be executed in this project. - Step 1 : Place the Robot in the Environment within Gazebo - Step 2 : Perform Autonomous exploration of the environment and generate the Map - Step 3 : Perform pathplanning and go to goal in the environment ### Follow the execution of the different Launch files to acheive the required tasks of each step. (Look below for Project prerequisites and setup) ## Step 1 : Place the Robot in the Environment within Gazebo Set your environment variable to the model robot to be used. ``` export TURTLEBOT3_MODEL=waffle_pi source ~/.bashrc ``` Execute the given launch to open Gazebo with the given world file and place the robot Turtlebot3 Waffle pi model in it. ``` roslaunch ros_autonomous_slam turtlebot3_world.launch ``` Keep this process running always and execute other commands in a different terminal. ## Step 2 : Perform Autonomous exploration of the environment and generate the Map ``` roslaunch ros_autonomous_slam autonomous_explorer.launch ``` Run the Autonomous Explorer launch file which executes two tasks for us at the same time. 1. It starts the **SLAM** node in the Navigation stack with a custom modified RVIZ file to monitor the mapping of the environment. 2. It simultaneously starts the **Autonomous explorer** which is a Python based controller to move around the robot grazing all the areas whcih helps the **SLAM** Node to complete the mapping. The default algorithm used for the exploration is RRT algorithm. I have also created a explorer method which uses Bug Wall following algorithm for exploration which can be tested by adding ```explorer``` argument to the launch which takes ```[RRT,BUG_WALLFOLLOW]```. ### Setting Exploration region for RRT in RVIZ Window ([More Details](http://wiki.ros.org/rrt_exploration/Tutorials/singleRobot)) The RRT exploration requires a rectangular region around to be defined in the RVIZ window using four points and an starting point for exploration within the known region of the robot. The total five points must be defined in the exact sequence given below using the RVIZ **Publish Points** option. [Source](http://wiki.ros.org/rrt_exploration/Tutorials/singleRobot)<br />  <br /> **Monitor the Mapping process in RVIZ window** and sit back and relax unitll our robot finishes mapping XD . <br />  **Once you are satisfied with the constructed map, Save the map.** ``` rosrun map_server map_saver -f my_map ``` The **my_map.pgm** and **my_map.yaml** gets saved in your worspac
Excerpt of 8,197 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:a4be2aede70bba58, topic:ros, topic:slam, name:slam