Navigating a real car prototype in ROS with GPS based localization and laser based obstacle avoidance.

• Performed Autonomous navigation using GPS data and performed Obstacle avoidance using Laser Data.
  • Implemented a SimpleActionServer which constantly calculate the distance to the goal, and return the distance in meters, in integer format, as feedback using Vincenty's Formula.
  • Implemented a SimpleActionClient that calls the server and moves the car to the given goal.
• Implemented the Ackerman Steering Geometry for the navigation of the car and featured with DeadMansSwitch functionality.