Human-driven-navigation-strategies-in-a-ROS2-environment

Architecture Overview

The disaster_response_swarm platform consists of several ROS 2 nodes and launch files enabling multi-robot SLAM, navigation, and map merging.

Components

• SLAM Toolbox — Handles mapping and localization for each robot.
• Navigation2 (Nav2) — Path planning and motion control.
• Map Merge Node — Merges local maps into a global map.
• YOLO Detection Node — Performs vision-based object detection.
• Gazebo Simulation — Simulates robots in a 3D world.

Node Diagram

[ Gazebo World ] --> [ Robot State Publishers ] --> [ SLAM Nodes ] --> [ Nav2 ]
                                             \--> [ YOLO Detection ]

[ SLAM Nodes ] --> [ Map Merge Node ] --> [ Global Map Topic ]