Autonomous Navigation with ROS 2

Intensive 2-week program where I collaborated with a teammate to enable a Turtlebot to navigate autonomously in a real-world lab environment using ROS 2 and the Nav2 navigation stack.

We implemented the complete autonomous navigation pipeline:
-Mapping & Localization: Generated accurate static maps using SLAM and configured AMCL for precise robot localization.
-Navigation Tuning: Defined the robot’s physical footprint, configured dynamic costmaps for obstacle avoidance, and tuned global and local planners for smooth, reliable path following.
-System Integration: Developed a custom ROS launch file that automatically initialized localization and enabled the robot to navigate through user-defined waypoints without manual intervention.

The workshop came to an end with the Turtlebot executing fully autonomous navigation routines, reinforcing my expertise in sensor fusion, real-time decision making, and practical mobile robotics workflows.