This repository contains the code and documentation for the Tiago Navigation and Obstacle Detection project.

The goal of this project is to develop a robust navigation system for the Tiago robot, enabling it to autonomously navigate to a predefined pose while concurrently detecting movable obstacles using laser scan data.

The project is structured as follows:

• src/: Contains the source code for the project.
  • move_client.py: Action Client for specifying destination pose.
  • move_server.py: Action Server for navigation and obstacle detection.
  • scan.py: Laser scan data processing for obstacle detection.
• launch/: Contains ROS launch files.
  • first_assignment.launch: Launch file to run the project with a specified destination pose.
• imgs/: Contains images used in the project documentation.

• Robot Operating System (ROS): Kinetic or later version.
• Tiago simulation environment.

To compile the project, use the following commands:

1. Start the simulation environment:

   roslaunch tiago_iaslab_simulation start_simulation.launch world_name:=ias_lab_room_full

2. Launch the navigation stack:

   roslaunch tiago_iaslab_simulation navigation.launch

3. Run the project with the specified destination pose:

   roslaunch tiago_iaslab_simulation first_assignment.launch x:=11 y:=0 z:=0

The implemented system successfully fulfills the specified objectives. Tiago adeptly navigates through the environment, achieving the predefined pose, and accurately detects movable obstacles using laser scan data.

This report outlines the development of a sophisticated navigation and obstacle detection system for the Tiago robot utilizing ROS. The application of an Action Client/Server structure, coupled with a modular code design and seamless integration with laser scan data, demonstrates a proficient application of robotics programming principles.

For any questions or issues, feel free to contact the author: Amir Mahdi Amani.