A collection of my ROS2 robotics projects focused on navigation, computer vision, and mission planning.

• ROS2 Distro: Jazzy
• Simulation: Gazebo Harmonic
• Key Libraries: Navigation2, OpenCV, Plansys2

Autonomous navigation system with SLAM and path planning.

Features:

• Custom URDF/Xacro robot model
• SLAM for mapping
• Navigation2 for path planning
• Gazebo Harmonic simulation

Technologies: ROS2 Jazzy, Nav2, SLAM, Gazebo, URDF

ArUco marker detection and visual servoing for autonomous robot control.

Features:

• Real-time ArUco marker detection with OpenCV
• Visual servoing control
• Two robot configurations (differential drive)
• Gazebo simulation

Technologies: ROS2 Jazzy, OpenCV, ArUco, Gazebo, URDF

Mission planning robot using Plansys2 for task execution.

Features:

• Three-phase mission execution
• ArUco marker detection and sorting
• Image processing with OpenCV
• Plansys2 for task planning
• Nav2 for navigation

Technologies: ROS2 Jazzy, Plansys2, Nav2, OpenCV, Gazebo

• ROS2 Jazzy
• Gazebo Harmonic simulation
• OpenCV for computer vision
• Navigation2 stack
• URDF/Xacro for robot modeling
• ArUco markers for visual navigation