Where Am I?

The goal of this project is to build a Differential wheeled robot that uses information from laser-sensor and camera to localize itself through the amcl pkg to estimate the robot's own pose by applying Particle Filter Algorithm. .However, to successfully apply the algorithm, there are many parameters to tune for the specific robot and env, config.files contains up-to-date parameters . See my pdf for an extended discussion

Project Setup

The project was developed on Ubuntu 16.04 LTS with ROS Kinetic, Gazebo and catkin installed. Update system: sudo apt-get update

1.Create catkin workspace:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ~/catkin_ws
$ catkin_make

2.Install ROS packages used in this project.

$ sudo apt-get install ros-kinetic-navigation
$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-move-base
$ sudo apt-get install ros-kinetic-amcl

3.Clone my github repository

4.Build.

$ catkin_make

After the above steps, you should be able to run the commands below in separate terminals:

roslaunch udacity_bot udacity_world.launch
roslaunch udacity_bot amcl.launch
rosrun udacity_bot navigation_goal