RoboticsND: Project #3

This repository contains the files for Udacity's Robotics Nanodegree's Third Project.

Find Udacity's Robotics Software Engineering Nanodegree here.

Project Requirements

• Simulate previous robot inside a simulation world
• Set up AMCL (Adaptive Monte Carlo Localization)
• Generate a map using PGM from the simulation world
• Launch map_server, amcl, and move_base nodes
• Achieve relatively fast robot localization
• Control robot using teleop

The requirements of this project were met as approved by Udacity's reviewers.

Screenshots

Find the following images showing the a few details of the project.

Fig.1 - Robot inside simplistic Gazebo simulation

Fig.2 - Robot inside Rviz along with generated map

Fig.3 - Working AMCL at initial spawn point

Fig.4 - Working AMCL at step 1

Fig.5 - Working AMCL at step 2

Fig.6 - Working AMCL at step 3

Fig.7 - Working AMCL at final step

Credits

This project was fully done by myself.