Dynamic Obstacle Avoidance Robot in ROS 2

📌 Overview

This project implements a custom robot that performs autonomous navigation using Nav2 in Gazebo while avoiding dynamic obstacles.

🛠 Features

✅ Autonomous Navigation with ROS 2 Nav2
✅ Dynamic Obstacle Avoidance
✅ Custom C++ Node for Navigation (navigation_node)
✅ RViz Visualization
✅ Gazebo Simulation

Installation & Setup

1️⃣ Clone the Repository

git clone https://github.com/Ellakiya15/ros2-dynamic-obstacle-avoidance-bot.git
cd Dynamic-obstacle-avoidance-bot

2️⃣ Build the package

colcon build
source install/setup.bash

3️⃣ Start Simulation

ros2 launch bot_gazebo spawn_robot.launch.xml

4️⃣ Start Navigation

ros2 launch bot_nav navigation.launch.xml

5️⃣ Start Rviz

rviz2

6️⃣ Navigation node

ros2 run bot_nav navigation_node

How navigation_node Works

The ROS 2 C++ node (navigation_node) is responsible for managing navigation goals interactively.

1️⃣ Set Initial Pose:

The node sets an initial pose estimate to localize the robot in the simulated world.

2️⃣ Send a Navigation Goal:

The user enters a target location (x, y, yaw), and the node sends this as a goal to the Nav2 stack.

3️⃣ Print "Goal Reached" When Goal is Achieved:

Once the robot reaches the target location, "Goal Reached" is printed in the terminal.

4️⃣ Prompt for Next Goal:

After reaching the goal, the user is prompted to enter a new target location. The process repeats until the user decides to exit.

Expected Terminal Output

[INFO] [navigation_node]: Setting initial pose...
Enter new goal (x, y, yaw):  2.0 3.5 1.57
[INFO] [navigation_node]: Navigating to (2.0, 3.5, 1.57)...
[INFO] [navigation_node]: Goal reached!
[INFO] [navigation_node]: Adding marker at (2.0, 3.5)
Enter new goal (x, y, yaw):  -1.0 4.0 0.0
[INFO] [navigation_node]: Navigating to (-1.0, 4.0, 0.0)...
[INFO] [navigation_node]: Goal reached!
[INFO] [navigation_node]: Adding marker at (-1.0, 4.0)
Enter new goal (x, y, yaw):  3.0 -2.5 1.0
[INFO] [navigation_node]: Navigating to (3.0, -2.5, 1.0)...
[WARN] [navigation_node]: Goal failed!
Enter new goal (x, y, yaw):  

Expected Output