ROS-Localization-AMCL

Robotic simulation project using ROS (Robot Operating System), Gazebo, RViz simulation environment using AMCL.

Project Description

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

Running the Project

$ 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