ROS programmer for Navigation (NavCore) task

All development should be implemented under ROS melodic, Debian 9. The program should be fully functional in the Gazebo simulator. The Robot should consecutively drive around the path, presented in the form of the oriented graph, in a collision-free manner. Each graph nodes represent five numbers (x, y, g, t), where x, y - Cartesian coordinates, g - azimuth angle, t – time, that robot should spend at the node without any movement, m – weight constant. Graph edge is the shortest geometrical path between nodes. Robot acts on the rectangle polygon 3x2 m, which fenced with an impenetrable wall. On the path, there is a probability of the presence of the movable obstacles. The robot should drive around a movable obstacle or drive to another node if there is another node on the way. The path must be completed in a given period of time. The robot is a rectangular parallelepiped with 350x200x350 mm sides on the differential drive platform. In other words, it is a wheeled mobile robot. The velocity and acceleration (or deacceleration) of each wheel is controlled by a separate motor. Also, there is an optional feature of a sudden stop of the platform. In the middle of the front and rear sides, there are two Hokuyo URG-04LX-UG01 Scanning Laser Rangefinders. Movable obstacles have to be presented in the form of cylinders with 350 mm base diameter and 350 mm height. They should follow their own custom random trajectories. The possibility of integration with MoveIt! should be implemented. There is robot’s world 3D-model available and required drafts, representing the robot. Robot drafts attached below. Robot’s world is [login to view URL]