An ongoing project, I am working on a robot that will map out an office space and perform localization, navigation, and obstacle avoidance using a LiDAR, IMU, and a computer mouse as a position sensor. This project is for a previous employer to act as an office avatar that can allow remotely working employees to see parts of the office and communicate. Below is the RPLiDAR that I am using for mapping.

Currently I have set up the LiDAR and a few sensors. Using this data, the slam_toolbox, and nav2 library for ROS2 I can generate a map and send goal coordiantes in RVIZ. Next I will be adding a driving base of some kind and mapping out a larger area as well as using the nav2 library to drive to points on the map as well as avoiding obstacles.