ME495 Sensing, Navigation and Machine Learning For Robotics

• Marthinus Nel
• Winter 2023

Package List

This repository consists of several ROS2/C++ packages

• nuturtle_description - Displays multiple Turtlebot3's in rviz.
• turtlelib - A library for handling transformations in SE(2) and other turtlebot-related math.
• nusim - Simulation and visualization tool for the turtlebot3 robots in rviz.
• nuturtle_control - This package provides functionalities for controlling the movement of a turtle robot and calculating its odometry.
• nuslam - This is a package that implements and runs an Extended Kalman Filter SLAM algorithm in a simulated/real world environment. Additionally it preforms lidar points clustering, circle fitting and unknown data association.

Example Video

Robot color:

• Red robot: Ground truth
• Blue robot: Odometry
• Green robot: EKF SLAM estimate

Obstacle color:

• Red obstacle: Ground truth
• Green obstacle: Clustering algorithm -> Circle fitting algorithm -> Unknown Data Association

Screencast.from.03-16-2023.08.02.09.PM.webm

Final pose error between the actual robot position and odometry

• x: 0.98891 - 0.032898 = 0.956 [m]
• y: 0.1497 - 0.036449 = 0.113 [m]
• theta: 4.296 - 5.216 = -0.92 [Deg]

Final pose error between the actual robot position and the SLAM estimate

• x: 0.03968 - 0.032898 = 0.007 [m]
• y: 0.046666 - 0.036449 = 0.01 [m]
• theta: 4.736 - 5.216 = -0.48 [Deg]

Example