Project 2: Navigation

For this project, you may program an iRobot Create3 robot using ROS2 nodes to do anything you like, subject to the following constraints:

• In an initial mapping phase, the robot must build a map of the area to be navigated, using any of the mapmaking programs we have written in this unit.
• In the navigation phase, the robot will travel between different locations in the mapped area. The reasons for the robot to travel between locations are up to you. Here are some types of reasons:
  • Human input:
    • Pushing one of the interface buttons on the robot.
    • Commands sent via curses keystrokes.
  • Environmental input:
    • Encountering an object that is not on the map.
• The robot’s actions during the navigation phase should not be arbitrary - they should be in the context of completing one or more useful tasks.