EKF SLAM from scratch

• Jiasen Zheng
• Winter 2022

Package List

This repository consists of several ROS packages/libraries

• nuturtle_description - To adapt the model in the turtlebot3_description for our needs and display robot models in Rviz
• turtlelib - To perform 2D rigid body transformations and other functionality
• nusim - To simulate and visualize the turtlebot and obstacles in Rviz
• nuturtle_control - To control the turtlebot in both simulation and real world
• nuslam - To perform extended Kalman Filter SLAM algorithm on the turtlebot both in simulation and real world