AuToGo_robot_sim v0.1.0

AuToGo_robot_sim v0.1.0

v0.1.0 marks the first public baseline release of AuToGo_robot_sim.

This release is not intended to represent a finished robotics stack. Instead, it defines a clearer and more reproducible starting point for users who want to explore simulation, SLAM, navigation, and Livox-based Fast-LIO workflows in a single public repository.

What is included in this baseline

• mobile robot simulation on ROS1 Noetic and Gazebo 11
• multiple Gazebo world entrypoints
• 2D and 3D sensor simulation
• EKF-based localization
• 2D SLAM with GMapping
• autonomous navigation with the ROS Navigation Stack
• Livox Mid-360 integration for Fast-LIO-oriented experiments

What improved before this release

Repository usability

• the main README was rewritten in English for public consumption
• contribution and security guidance was added
• issue and pull request templates were added to make future maintenance easier

Workflow clarity

• the 2D SLAM path was clarified so it no longer points users at the Livox-oriented playpen profile by default
• the expected Hokuyo topic for GMapping is now documented as /hokuyo/scan

Portability and configuration fixes

• scout_mini_empty_world.launch now resolves its default world path correctly
• bundled map YAML files now use relative image paths, making navigation examples portable across machines
• Livox plugin configuration now respects forwarded launch parameters instead of overriding them internally
• scout mini namespace handling is now more consistent across launch entrypoints and controller topic construction

Recommended starting points

2D SLAM and navigation

Use one of the following launch files first:

• roslaunch scout_gazebo_sim scout_mini_house.launch
• roslaunch scout_gazebo_sim scout_mini_empty_world.launch

Then continue with:

roslaunch scout_filter ekf_filter_cmd.launch
roslaunch scout_slam scout_slam.launch
roslaunch scout_navigation scout_navigation.launch

Fast-LIO

Use:

roslaunch scout_gazebo_sim scout_mini_playpen.launch
roslaunch fast_lio mapping_mid360.launch

Known limitations

• doc/navigation.md still needs a full pass
• some workflow documents remain partially Chinese
• Fast-LIO setup may still require local topic and TF adjustments
• this baseline targets ROS1 Noetic on Ubuntu 20.04

Suggested GitHub release body

## AuToGo_robot_sim v0.1.0

This is the first public baseline release of `AuToGo_robot_sim`.

### Included in this baseline
- ROS1 Noetic + Gazebo 11 mobile robot simulation
- multi-scene Gazebo environments
- EKF localization
- 2D SLAM with GMapping
- autonomous navigation with the ROS Navigation Stack
- Livox Mid-360 support for Fast-LIO experiments

### Notable improvements
- English README and maintainer-facing repository docs
- clearer 2D SLAM workflow documentation
- fixed default world path for `scout_mini_empty_world.launch`
- portable bundled map YAMLs with relative image paths
- Livox plugin parameters now respect forwarded launch configuration
- normalized scout mini namespace handling in Gazebo launch and controller flow

### Known limitations
- `doc/navigation.md` is still incomplete
- some detailed docs remain in Chinese
- Fast-LIO setup may require local topic / TF adjustments
- ROS1 Noetic only for now

Suggested pre-release checks

Run these before publishing a GitHub release:

catkin build
roslaunch scout_gazebo_sim scout_mini_empty_world.launch
roslaunch scout_gazebo_sim scout_mini_house.launch
roslaunch scout_gazebo_sim scout_mini_playpen.launch

If you want to smoke-test both main workflows, also run:

roslaunch scout_filter ekf_filter_cmd.launch
roslaunch scout_slam scout_slam.launch
roslaunch scout_navigation scout_navigation.launch
roslaunch fast_lio mapping_mid360.launch