museum_guide#

A beginner ROS2 (Jazzy) stack that autonomously guides a differential-drive robot through a simulated museum. It senses obstacles with a LiDAR, decides a direction based on configurable thresholds, drives the base, broadcasts its pose into TF, and publishes its full traced path — with five operating modes selectable at launch time.

Quickstart#

Clone into the src directory of your colcon workspace (e.g. ~/ros2_ws), install the declared dependencies, then build and launch:

# Clone into your workspace's src/
cd ~/ros2_ws/src
git clone <repo-url> museum_guide

# Install the ROS2 packages this stack depends on
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

# Build, source, and launch
colcon build --symlink-install
source install/setup.bash
ros2 launch museum_guide