karimchamaa / robond-ekflab

RoboND-EKFLab

In this lab, you will be applying an EKF ROS package to localize your robot inside a Gazebo environment. In the end, you will be able to drive the robot around in simulation and observe the Odom and EKF trajectories.

Steps to Launch the Simulation:

Launch the simulation in the VM machine provided in Term1.

Step 1 Create a Catkin Workspace:

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

Step 2 Perform a System Update:

$ sudo apt-get update

Step 3 Clone the Package in src:

$ cd ~/catkin_ws/src
$ git clone https://github.com/udacity/RoboND-EKFLab

Step 4 Install Packages Dependancies:

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

Step 5 Build the Packages:

$ catkin_make
$ source devel/setup.bash

Step 6 Launch the main file:

$ roslaunch main main.launch

Now, you should see Gazebo and rviz launching. Please note that Gazebo might take up to 3 min 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.