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Merged
Rishav-N merged 33 commits into from
Dec 29, 2025
Merged

AutoNav Iteration 1 #19

Rishav-N merged 33 commits into from
Dec 29, 2025

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@Rishav-N
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@Rishav-N Rishav-N commented Dec 28, 2025

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Rishav-N and others added 20 commits November 17, 2025 23:35
@Rishav-N
SDF creation and joystick integration with sim
86f03ac
@mdurrani808 @Rishav-N
Fixed simulation bugs to enable rover control in gazebo
13c9280
@Rishav-N
SDF creation and joystick integration with sim
6cacced
@Rishav-N
Merge pull request #1 from Rishav-N/ManualDrive
60f5524 
Manual drive
@Rishav-N
deleted stray file
f5212e9
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Merge pull request #2 from Rishav-N/ManualDrive
3be6a2c 
deleted stray file
@Rishav-N
Deleted twist_stamper and added spherical coords to sdf
2792807
@Rishav-N
SDF creation and joystick integration with sim
38ce7c9
@Rishav-N
Deleted twist_stamper and added spherical coords to sdf
de82642
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Merge pull request #3 from Rishav-N/ManualDrive
3ff494e 
Manual drive
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deleted stray files
c075cd0
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Merge pull request #4 from Rishav-N/ManualDrive
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deleted stray files
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deleted stray text
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Merge pull request #5 from Rishav-N/ManualDrive
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@mdurrani808
Merge branch 'main' into main
017b6e8
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Merge remote-tracking branch 'upstream/main'
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@Rishav-N
Autonav initial iteration (wonky path planning fix in progress)
4b94a5f
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Merge pull request #6 from Rishav-N/AutoNavV1
7771480 
Auto nav v1
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Deleted outdated files and minor changes
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Merge pull request #7 from Rishav-N/AutoNavV1
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Deleted outdated files and minor changes
@Rishav-N Rishav-N requested a review from mdurrani808 December 28, 2025 23:01
mdurrani808
mdurrani808 reviewed Dec 28, 2025
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Can you add some comment on how you tested this

mdurrani808
mdurrani808 reviewed Dec 28, 2025
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@mdurrani808 mdurrani808 marked this pull request as ready for review December 29, 2025 01:01
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Rishav-N commented Dec 29, 2025 •
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Can you add some comment on how you tested this

Current Testing (Run in order):

In ros workspace:

colcon build
source install/setup.bash

Sim bringup (Terminal 1):

export IGN_GAZEBO_RESOURCE_PATH=src/athena-code/src/description/models/ 
ros2 launch simulation bringup.launch.py world:=src/athena-code/src/description/worlds/terrain_world.sdf

Rviz default bringup (Terminal 2):

rviz2 -d $(ros2 pkg prefix nav2_bringup)/share/nav2_bringup/rviz/nav2_default_view.rviz

Nav2 launch (Terminal 3):

ros2 launch athena_planner nav2.launch.py dem_file_path:=src/athena-code/src/subsystems/navigation/athena_map/maps/north_site800m.tif

Now use rviz's nav2 goal tool to select a position to path plan

@Rishav-N Rishav-N merged commit 14e6f10 into umdloop:main Dec 29, 2025
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@Rishav-N @mdurrani808