Robotics_ROS_Monte_Carlo_Localizer

Robot localization within a Gazebo simulated office environment utilizing the ROS AMCL package.

Custom ROS package:

• my_robot: Simple robot consisting of 2 rotational wheels and a caster wheel for movement and a LiDAR sensor for sensing.

Usage

Clone this project into your Catkin workspace's src directory:

$ cd ~/catkin_ws/src
$ git clone https://github.com/jarix/Robotics_ROS_Monte_Carlo_Localizer

Get ros-teleop package: $ git clone https://github.com/ros-teleop/teleop_twist_keyboard

Build:

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash

Launch the Robot World (my_robot, Gazebo, and RViz): $ roslaunch my_robot world.launch

Launch AMCL: $ roslaunch my_robot amcl.launch

Control robot with keyboard: $ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

or alternatively send 2D Nav Goal commands from RViz (button on the toolbar)

Environment & Dependencies

Developed and tested on ROS Kinetic. Dependencies to the following packages:

$ 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

Screenshots

Office Environment in Gazebo

Unlocalized Robot

Localized Robot