This project focuses on creating a ROS2-based navigation system for a differential drive robot within a simulated environment. The system enables the robot to intelligently navigate towards specified goal poses while avoiding collisions with obstacles.

The project consists of the following key components:

• simulator.py: A ROS2 node for simulating the motion of a differential drive robot within a given environment.
• velocity_translator.py: Node responsible for translating linear and angular velocities to left and right wheel velocities.
• prm_controller.py: Implementation of a proportional controller for navigating the robot to move from start configuration to goal configuration.
• prm_planner.py: A module for PRM-based path planning utilized by the prm_controller.py.
• launch.py: Launch script to start the simulation environment by launching the nodes.

• Prerequisites: Make sure you have ROS2 installed and set up properly.

• Clone this repositior in src folder of ROS2 workspace

• Build the package using:

  colcon build --packages-select special_implemenatation

• Launch the project using:

  ros2 launch special_implementation robot_name:=ideal.robot world_name:=bricks.world

• Change robot file names and world file names as per your requirement or you can create new worlds