🤖 Perception, Localization and Mapping for Mobile Robots

This repository contains two projects developed for the course Perception, Localization and Mapping for Mobile Robots.

All code is written in C++ using the Robot Operating System (ROS) framework.
Each project is self-contained and includes launch files, configuration files, and ROS nodes.

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📌 First Project: Odometry and Sector Analysis

We developed three ROS nodes to compute:

• Odometry from steering data
• Odometry from GPS coordinates
• Sector times and average speed

The system processes real driving data to estimate the car's trajectory and performance on a predefined circuit.
It includes a full launch file with rviz configuration to visualize odometry and trajectory in real-time.

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🗺️ Second Project: Mapping and Navigation

This project focuses on:

• Creating a 2D map using raw laser scan and odometry data from a mobile robot
• Simulating robot navigation using stage and ROS Navigation Stack

The laser scans from front and rear sensors are combined into a 360° view and filtered to exclude parts of the robot itself.
A navigation pipeline is implemented to drive the simulated robot through a sequence of goals defined in a CSV file.