TurtleBot Autonomous Navigation

Instructor: Prof. Damiano Padovani

Built autonomous navigation and obstacle avoidance routines for TurtleBot 4 using ROS2 Humble.

Technical Implementation

• ROS2 Setup: Built a workspace with custom Python nodes for motion control.
• Teleoperation: Implemented keyboard teleop publishing Twist messages to the cmd_vel topic.
• Circular Motion: Programmed closed-loop velocity control for a target radius (~30 cm).
• Path Following: Built timer-based routines to follow a predefined path.
• Obstacle Avoidance: Used 2D LiDAR for collision detection and to go around obstacles.
• Sensors: Studied how to combine OAK-D depth camera and LiDAR for navigation.