This project focuses on localization for the TurtleBot3 robot using ROS (Robot Operating System). It provides the necessary packages and configuration for accurate robot localization in a simulated environment, achieved through the implementation of 2D Kalman filter.

Before getting started, ensure you have the following prerequisites installed on your system:

• ROS (Robot Operating System) of the desired distribution (e.g., Melodic, Noetic, Humble, etc.)
• TurtleBot3 ROS messages: sudo apt-get install ros-<distro>-turtlebot3-msgs
• Gazebo for ROS simulation: sudo apt-get install ros-<distro>-gazebo*
• TurtleBot3 ROS package: sudo apt-get install ros-<distro>-turtlebot3
• TurtleBot3 teleoperation: sudo apt-get install ros-<distro>-turtlebot3-teleop
• TF transformations library: sudo apt-get install ros-<distro>-tf*
• Python 3 transforms3d library: sudo pip3 install transforms3d
• ROS plotJuggler for data visualization: sudo apt-get install ros-<distro>-plotjuggler*

Make sure to replace <distro> with your specific ROS distribution (e.g., Melodic, Noetic, etc.).

Follow these steps to set up your environment:

1. Create a directory for your project:

   mkdir turtlebot3_localization
   cd turtlebot3_localization

2. Download the source files for this project into your workspace:

   git clone https://github.com/MostafaELFEEL/turtlebot3_localization.git

3. Building the package:

   colcon build

4. Running the code:

   export TURTLEBOT3_MODEL=waffle
   ros2 launch turtlebot3_gazebo empty_world.launch.py

   ros2 run kalman_filter Noise

   ros2 run kalman_filter KalmanFilter

   Use Plotjuggler to graph the ground truth, Noise, and Estimated pos

   ros2 run plotjuggler plotjuggler

   Move the robot with teleop

   ros2 run turtlebot3_teleop teleop_keyboard

Before Filter	After Filter