AV with Localization and Navigation

This project implements an autonomous vehicle using ROS2 Humble.
The repository contains two main packages: camera_viewer and localization.
The robot performs perception, localization, path planning, and obstacle avoidance to autonomously navigate and deliver objects.

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📌 Features

• Camera streaming on Raspberry Pi + Jetson Nano via ROS2.
• Localization with LiDAR + ArUco markers + Kalman filter correction.
• Navigation:
  • Finds a cube.
  • Approaches and picks it up.
  • Delivers the cube to point A, B, or C (based on ArUco marker).
  • Calculates routes and avoids obstacles.
• ROS2 Humble integration with differential drive robot.

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Demo

A video demonstration of the project is available here:
➡️ Watch on YouTube