Robotic simulation project using ROS (Robot Operating System), Gazebo, RViz simulation environment using AMCL.
Amcl (Adaptive Monte Carlo Localization) is a Robot Operating System (ROS) navigation package which utilizes particle filters to track the pose of a moving robot with a known 2D map.The robot is a differential drive robot with two caster wheels, a laser sensor, and a camera sensor
This project contains 3 packages
teleop_twait_kwyboard
to drive robot using keyboard
my_robot
this package contains robot discription and lauch files
robo_restaurant
this conatins amcl node
,parameter
and main_launch file
$ cd ~/catkin_ws
$ cd src
clone the repo in scr folder of your workspace
$ git clone https://github.com/dil2743/robo_restaturant
$ cd ..
$ catkin_make
$ source devel/setup.bash
And then run the following command -
$ roslaunch robo_restaurant robo_restaurant.launch
this will launch the gazebo world
Rviz
and amcl_node
Mobile Robot in Gazebo World with Environment Obstacles
Rviz pose estimation
Helpful resource for better understanding AMCL here