Autonomous Software Stack for Rover functionality
-> This image shows a snap of the real-time visualisation of the rover in RViZ.
-> The intense white map indicates the dynamic local costmap.
-> The grey white map indicates the static global costmap.
-> The grided open map is a SimTime environment named Stage ROS for emuluting the real world in 2-Dimension.
- The first image is a snap of the bot navigating to some random goal.
- While in dynamism we randomly set a another goal state interactively.
- Now the path is replanned dynamically in real-time.
- The Bot starts moving towards the goal as the path is suggested.
- The bot reaches the goal state with some Goal Tolerance.
The corresponding codes have been tested in real-time bot and has been documented in the same github page.