AuNa: Autonomous Navigation System Simulator

A comprehensive ROS2-based framework for autonomous vehicle simulation, featuring cooperative driving scenarios, multi-robot coordination, and advanced navigation algorithms. The system uses Docker Compose for easy deployment and provides Gazebo simulation with RViz visualization.

🚀 Key Features

• Multi-Robot Simulation: Support for multiple autonomous vehicles in coordinated scenarios
• CACC Implementation: Cooperative Adaptive Cruise Control for platooning scenarios
• Advanced Navigation: Integration with ROS2 Navigation2 stack for path planning and obstacle avoidance
• Wall Following: Robust wall-following algorithms using LIDAR data
• Docker-based Deployment: Simple containerized deployment - no manual installation required
• Real-time Visualization: Gazebo 3D simulation with RViz integration

🛠️ Installation

Prerequisites: Docker with docker compose support

1. Clone the repository:

   git clone https://github.com/HarunTeper/AuNa.git
   cd AuNa

🚀 Usage

Running Simulations

The only supported method is through Docker Compose.

Important: Before running a scenario, configure the world in the .env file:

1. Edit the .env file in the project root:

   # For racing scenario
   WORLD_NAME=racetrack_decorated
   
   # For platooning scenario
   WORLD_NAME=arena

2. Launch the scenario:

Racing Scenario (1 robot)

Set WORLD_NAME=racetrack_decorated in .env, then run:

docker compose --profile racing up

Platooning Scenario (3 robots)

Set WORLD_NAME=arena in .env, then run:

docker compose --profile platooning up

Available Worlds

• racetrack_decorated - Racing track environment (default for racing)
• arena - Open arena environment (default for platooning)

After launching, Gazebo and RViz windows will start automatically.

🎮 RViz Configuration

Once the simulation starts, you'll see both Gazebo (simulation) and RViz (visualization) windows.

Setting Up Robot Namespace in RViz

1. Enter the namespace in RViz for each robot you want to control:

   • Format: robot + index (starting from 1)
   • Examples: robot1, robot2, robot3

2. Select input source after entering the namespace:

   • Default: off (no autonomous control)
   • Available sources:
     • wallfollowing - Follow walls using LIDAR
     • teleop - Manual keyboard control
     • nav2 - Navigation2 path planning
     • cacc - Cooperative Adaptive Cruise Control

Robot Role Configuration

Leader Robot (robot1)

For racetrack_decorated world:

• Use wallfollowing for autonomous wall following
• Use nav2 for goal-based navigation

For arena world:

• Use nav2 for goal-based navigation
• Use cacc for coordinated movement

Follower Robots (robot2, robot3, ...)

For all worlds:

• Use cacc for following the leader robot in formation

Example Usage Flow

1. Start simulation:

   docker compose --profile sim_scenario up

2. In RViz window:

   • Enter namespace: robot1
   • Select input source: wallfollowing (for leader on racetrack)

3. For additional robots:

   • Enter namespace: robot2
   • Select input source: cacc (follower)

🐛 Troubleshooting

Common Issues

1. Docker containers fail to start:

   # Check Docker daemon
   sudo systemctl status docker
   
   # Rebuild containers
   docker compose build --no-cache

2. Gazebo crashes or has poor performance:

   # Check GPU drivers (for NVIDIA GPUs)
   nvidia-smi
   
   # Reduce graphics quality in Gazebo settings
   # Or disable GPU acceleration: LIBGL_ALWAYS_SOFTWARE=1

3. RViz namespace not working:

   • Ensure you enter the exact namespace format: robot1, robot2, etc.
   • Check that the robot containers are running: docker compose ps

4. Input source changes not taking effect:

   • Wait a few seconds after selecting the input source
   • Check the robot's status in the control panel interface

📁 Package Overview

The framework consists of several ROS2 packages organized by functionality:

Core Simulation & Control

• auna_gazebo - Gazebo simulation environment and robot models
• auna_control - Input source selection and command multiplexing
• auna_ground_truth - Ground truth localization from simulation

Navigation & Algorithms

• auna_nav2 - Navigation2 integration and path planning
• auna_cacc - Cooperative Adaptive Cruise Control for platooning
• auna_wallfollowing - Wall-following algorithms using LIDAR
• auna_waypoints - Waypoint management and route planning

Localization & Transforms

• auna_ekf - Extended Kalman Filter for sensor fusion
• auna_tf - Transform frame management and broadcasting

Communication & Messaging

• auna_comm - V2X communication protocols and CAM messages
• auna_msgs - Custom ROS2 message and service definitions
• auna_its_msgs - ITS (Intelligent Transportation Systems) messages
• auna_omnet - OMNeT++ network simulation integration

User Interface & Control

• auna_teleoperation - Manual keyboard and joystick control

Utilities & Templates

• auna_common - Shared utilities and helper functions
• auna_template - Template package for new development

Physical Hardware Support

• auna_f110 - F1/10 race car platform integration

🤝 Contributing

Development with GitHub Copilot

This repository includes comprehensive GitHub Copilot instructions to help you develop more effectively. See .github/copilot-instructions.md for:

• Project-specific coding patterns and conventions
• ROS2 development guidelines
• Multi-robot system considerations
• Package-specific development tips

General Contributing Guidelines

1. Fork the repository
2. Create a feature branch:

   git checkout -b feature/my-new-feature

3. Make changes and commit:

   git commit -am 'Add some feature'

4. Push to the branch:

   git push origin feature/my-new-feature

5. Create a Pull Request

📄 License

This project's licensing is under development. Please refer to individual package licenses for specific components and check with the maintainers for usage permissions.

🙏 Acknowledgments

• ROS2 Community: For the robust robotics framework
• Navigation2 Team: For the navigation stack
• Gazebo Team: For the simulation environment
• Contributors: All researchers and developers who contributed to this project

📞 Support

• Issues: GitHub Issues
• Discussions: GitHub Discussions
• Email: harun.teper@tu-dortmund.de

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Happy Autonomous Navigation! 🚗🤖