Turtlebot EKF

EKF ROS package to localize your robot inside a Gazebo environment. Drive the robot around in simulation and observe the Odom and EKF trajectories.

Pre-reuisite

Ubuntu 16 and Ros Kinetic

Step 1 Create a Catkin Workspace

$ mkdir -p /home/workspace/catkin_ws/src
$ cd /home/workspace/catkin_ws/src
$ catkin_init_workspace
$ cd ..
$ catkin_make

Step 2 Perform a System Update/Upgrade

$ apt-get update
$ apt-get upgrade -y

Step 3 Clone the Package in src

$ cd /home/workspace/catkin_ws/src
$ git clone https://github.com/dipinair/Turtlebot_ekf

Step 5 Install Packages Dependancies

$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash
$ rosdep -i install turtlebot_gazebo
$ rosdep -i install turtlebot_teleop

Step 6 Build the Packages

$ catkin_make
$ source devel/setup.bash

Step 7 Launch the main file

$ roslaunch main main.launch

Now, you should see Gazebo and rviz launching. Please note that Gazebo might take time to launch!

End Result

In the terminal, use the keyboard commands(u-i-o-j-k-l-m-,-.) and drive the robot around. The red trajectory represents the Odom path whereas the green trajectory represents the EKF path.

Reference

This project has been done as part of Udacity Robotics software engineer nano degree programm