GPS points will be predefined in ROS based robots to navigate to the destination avoiding obstacles. This package performs outdoor GPS waypoint navigation. It can navigate while building a map, avoiding obstacles, and can navigate continuously between each goal or stop at each goal.

This repo is made to run on a Rover with IMU, Novatel GPS, and Sick lms111 lidar.

1. This package uses a combination of the following packages:

   • ekf_localization to fuse odometry data with IMU and GPS data.
   • navsat_transform to convert GPS data to odometry and to convert latitude and longitude points to the robot's odometry coordinate system.
   • GMapping to create a map and detect obstacles.
   • move_base to navigate to the goals while avoiding obstacles (goals are set using recorded or inputted waypoints).

2. The Navigation package within this repo includes the following custom nodes:

   • gps_waypoint to read the waypoint file, convert waypoints to points in the map frame and then send the goals to move_base.
   • gps_waypoint_continuous1 and gps_waypoint_continuous2 for continuous navigation between waypoints using two seperate controllers.
   • collect_gps_waypoint to allow the user to drive the robot around and collect their own waypoints.
   • calibrate_heading to set the heading of the robot at startup and fix issues with poor magnetometer data.
   • plot_gps_waypoints to save raw data from the GPS for plotting purposes.
   • gps_waypoint_mapping to combine waypoint navigation with Mandala Robotics' 3D mapping software for autonomous 3D mapping.

I would like to acknowledge the contribution of 2 website which helped me while making this repo.

1. https://github.com/nickcharron
2. https://github.com/clearpathrobotics