diegoavillegasg / amcl-to-localize-a-differential-robot

Localization of a simulated differential robot in gazebo with the adaptive (or KLD-sampling) Monte Carlo localization ros package. This approach uses a particle filter to track the pose of a robot against a known map.

Where am I Project - Robotics Udacity ND

AMCL ROS package to localize a differential robot in Gazebo

A differential drive robot using adaptive Monte Carlo localization algorithm to localize itself in a map. In this case the amcl node is subcribed to laser and odometry data.

Dependencies

$ 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

Try with your own World!

Follow this instructions to create a map from your own gazebo world

PGM map creator deps

$ sudo apt-get install libignition-math2-dev protobuf-compiler

Open a terminal to copy your world file into pgm_map_creator subfolder,

cp ~/your_world_file.world src/pgm_map_creator_world/

Edit this world file you just copied, adding a single line to insert the map creator plugin just befor closing the </world> tag:

<plugin filename="libcollision_map_creator.so" name="collision_map_creator"/>

run gzerver with your modified map file:

gzserver src/pgm_map_creator/world/<YOUR GAZEBO WORLD FILE>

Open another terminal to launch the request_publisher node

roslaunch pgm_map_creator request_publisher.launch

It will create a pgm map in the folder src/pgm_creator_map/maps/

Copy this file map.pgm into src/my_robot/maps/

Now, if you rename .pgm file, check the mymap.yaml file, placed in subfolder pgm_map_creator/maps, has the correct value for the image param.

Demo

Launch in a terminal, after build and source the environment variables: roslaunch my_robot world.launch

Open a new terminal, source the environment variables and type: roslaunch my_robot amcl.launch

Set a 2D Navigation Goal in RVIZ

Using teleop twist keyboard

Open a new terminal and type: rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Notice how the robot's position is quickly corrected, although its initial pose: