EKF SLAM with Turtlebot3

• Anna Garverick
• Winter 2022

Package List

• nuturtle_description

  Modifies the TurtleBot3 URDF file to spawn multiple turtlebots in RVIZ with color arguments

  

• nusim

  Spawns a turlebot with obstacles in RVIZ

  

• nuturtle_control

  Interfaces commands with the real or simulated turtlebot

• nuslam

  Maps the environment and localizes the turtlebot in the map frame using data association with LiDAR point cloud data and an extended kalman filter