For this project the following set up was used:
- Ubuntu 16.04 LTS OS
- Ros kinetic
- Gazebo 7.0.0
- Rviz 1.12.17
- Clone this repository to your home directory:
$ git clone https://github.com/AndresGarciaEscalante/Sensor_Fusion_EKF
-
Review the documentation and dependecies of the Packages mentioned below.
-
Launch the main file:
$ source devel/setup.bash
$ roslaunch main main.launch
- Run the rqt_plot package node:
$ rosrun rqt_multiplot rqt_multiplot
Provide with a gazebo enviroment and the turtlebot.
For more detailed information please refere to the following link: Turtle_bot_Package
Applies Sensor Fusion a group of sensors. Some modification were made to interface with the Turtlebot Package and the Robot Pose EKF Package as shown in the following image:
For more detailed information please refere to the following link: Robot Pose EKF Package
Allows to display the Unfiltered and Filtered Position Trajectories. The result is shown bellow:
For more detailed information please refere to the following link: Odometry to Trajectory Package
Allows the movement of the Turtlebot in the gazebo environment by using keyboards.
For more detailed information please refere to the following link: TurtleBot Teleop Package
The main objective of the project is to visualice the efficiency of the Extended Kalman Filter to determine the position of the robot. Please check the video: