Udacity-Robotics-P3-Robot-AMCL-Localization
Robot Localization using Adaptive MCL Method
Overview
In this project, I learned to utilize ROS AMCL package to accurately localize a 2-wheel mobile robot inside a map with the PoseArray in the Gazebo simulation environments. This project is carried out with several aspects of robotic software engineering with a focus on ROS:
- Create a ROS package that launches a custom robot model in a custom Gazebo world.
- Utilize the ROS AMCL package and the Tele-Operation / Navigation Stack to localize the robot.
- Explore, add, and tune specific parameters corresponding to each package to achieve the best possible localization results.
Result
Directory Structure
catkin_ws # Catkin Workspace
├── my_robot # my_robot package
│ ├── launch # launch folder for launch files
│ │ ├── robot_description.launch
│ │ ├── world.launch
│ │ ├── amcl.launch # Adaptive MCL Algorithm parameters
│ ├── config
│ ├── maps # map files for navigation
│ │ ├── pgm_map.pgm # portable gray map
│ │ ├── pgm_map.yaml
│ ├── meshes # meshes folder for sensors
│ │ ├── hokuyo.dae
│ ├── urdf # urdf folder for xarco files
│ │ ├── twowheel_robot.gazebo
│ │ ├── twowheel_robot.xacro
│ ├── world # world folder for world files
│ │ ├── world.world
│ ├── rviz # rviz folder for rviz files
│ │ ├── my_robot_rviz.rviz
│ ├── CMakeLists.txt # compiler instructions
│ ├── package.xml # package info
Launch The Project
- Clone/Download this project.
- Build the project
$ cd /home/workspace/catkin_ws
$ catkin_make
- Launch the robot inside the world
$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash
$ roslaunch my_robot world.launch
- Launch amcl to locate and show the robot
$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash
$ roslaunch my_robot amcl.launch
- Run Teleop Package to move the robot and observe the location
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
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