Special thanks to Ebrahim Abdelghafar for creating this package. You can find his GitHub profile here.
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:
-
Create a directory for your project:
mkdir turtlebot3_localization cd turtlebot3_localization
-
Download the source files for this project into your workspace:
git clone https://github.com/MostafaELFEEL/turtlebot3_localization.git
-
Building the package:
colcon build
-
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 |
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