A ROS Package to make a Differential-Drive Wheelchair Navigate Autonomously in an indoor Environment using onboard LiDAR and Sonar Sensors. The Wheelchair provides manual control to user through a joystick, in case the wheelchair deviates from its path.
- Ubuntu 16.04 or >
- ROS Kinetic or >
- Navigation Stack
Sprint Discussion's - Link
Access Product Backlog, Worklog & Iteration Log here- Link
Steps to build
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone https://github.com/RajPShinde/Autonomous_Wheelchair
cd ~/catkin_ws/
catkin_make
To build tests
catkin_make tests
Mapping
source devel/setup.bash
roslaunch autonomous_wheelchair simulationMapping.launch
Navigation
source devel/setup.bash
roslaunch autonomous_wheelchair simulationNavigation.launch
Tests
source devel/setup.bash
catkin_make run_tests
REplace with TEB Motion Planner
None
BSD 3-Clause License
Copyright (c) 2020, Raj Shinde
Copyright (c) 2020, Prasheel Renkuntla
Copyright (c) 2020, Shubham Sonawane
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
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this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
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