Submission for Project 3 of the Udacity Robotics Software Engineer Nanodegree Program. This repository contains an additional amcl node to perform localization

Make sure you have gazebo and rviz installed and you have setup a catkin workspace

Clone the repo to your catkin workspace's src folder

eg: git clone https://github.com/xilef/robond_project3 /home/robond/workspace/catkin_ws/src

Go to the root of your catkin workspace and run catkin_make to build the whole repo

When you open a new terminal make sure to run first source devel/setup.bash from the root of your catkin workspace.

Once all the setup is done run:

roslaunch my_robot world.launch

to load the world.

Open a new terminal, navigate to your catkin workspace and run:

roslaunch my_robot amcl.launch

to run the amcl node for localization

Once everything has loaded you can either try to send navigation goals via rviz or manually move the robot via the teleop package. rosrun teleop_twist_keyboard teleop_twist_keyboard.py

The content in this repository is free to use.