R2-D2 Autonomous Cleaning & Exploration Robot

An autonomous robot capable of self-exploring unknown environments and performing systematic room cleaning.

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✅ Progress Tracking

Feature	Status	Description
Simulation	✅ Done	Robot model & physics in Gazebo Harmonic.
Mapping	✅ Done	SLAM Toolbox integration.
Navigation	✅ Done	Nav2 Stack (Path Planning & Obstacle Avoidance).
Auto Mapping	✅ Done	Frontier Exploration (OpenCV based).
Auto Cleaning	🚧 In Progress	Room Segmentation & Zigzag Plan (Code Logic Ready).

🔮 Future Work

• Refine Coverage Path Planning algorithm.
• Add 3D Vision support.
• Implement Docking & Auto-Charging.

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🚀 How to Run (Demo)

1. Robot Visualization

View the robot model and sensor configuration.

ros2 launch r2d2_description display.launch.py

📂 About this:

• Package: r2d2_description
• File: urdf/cleaner_robot.urdf.xacro
• Details: Defines the robot chassis, wheels, lidar, and camera joints.

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2. Manual Mapping (SLAM)

Drive the robot manually to create a map of the house.

ros2 launch r2d2_navigation mapping.launch.py

📂 About this:

• Package: r2d2_navigation
• Tech: Uses slam_toolbox (Async Mode).
• Goal: Generates a 2D Occupancy Grid map of the environment.

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3. Autonomous Navigation

Give the robot a "Goal Pose" in RViz, and it will drive there automatically.

ros2 launch r2d2_navigation navigation.launch.py

📂 About this:

• Package: r2d2_navigation
• Tech: Nav2 Stack (AMCL + MPPI Controller).
• Details: Uses nav2_params.yaml to configure costmaps and behavior trees.

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4. Auto Mapping (Frontier Exploration)

The robot explores the unknown house by itself until the map is complete.

# 1. Launch Complete Autonomy Stack
ros2 launch r2d2_autonomy autonomy.launch.py

# OR (If simulation is already running)

# 2. Run Frontier Explorer Node
ros2 run r2d2_autonomy frontier_explorer

📂 About this:

• Package: r2d2_autonomy
• Code: frontier_explorer.py
• Logic: Uses OpenCV to find "frontiers" (edges between known & unknown space) and sends Nav2 goals to them.

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5. Auto Cleaning (Coverage)

The robot systematically cleans the mapped house room-by-room.

ros2 launch r2d2_autonomy cleaning.launch.py

(Demo GIF Coming Soon)

📂 About this:

• Package: r2d2_autonomy
• Code: coverage_planner.py
• Logic:
  1. Segment Map: Breaks map into Rooms.
  2. Zigzag Path: Generates a Boustrophedon path to cover every inch.

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📥 Installation

# 1. Clone
mkdir -p ~/dev_ws/src
cd ~/dev_ws/src
git clone https://github.com/Ojas-Thombare/R2-D2-Autonomous-Cleaning-Robot.git

# 2. Install
cd ~/dev_ws
rosdep install --from-paths src --ignore-src -r -y

# 3. Build provided packages
colcon build --packages-select r2d2_description r2d2_gazebo r2d2_navigation r2d2_autonomy

# 4. Source
source install/setup.bash