Implementation of Particle filter algorithm for mobile robot (turtlebot3_burger) localization in ROS.

• Algorithm is implemented from scratch
• Only the map turtlebot3_stage_1.launch from turtlebot3_gazebo is handled, im working on more complex maps
• Data collection is done by manually driving turtlebot using turtlebot3_teleop_key.launch while pf_collect_data_node.py is active

• Papers -> materials used for the project
• Data -> folder containing Odometry and Lidar data needed for the algorithm
• Estimation -> folder containing particles data at each step
• Maps -> folder containing map parameters
• scripts -> python scripts
  • plot_map_features.py -> plotting the selected map with its features (obstacles)
  • pf_functions.py -> functions needed for Particle filter algorithm and Odometry/Lidar messages processing
  • pf_classes.py -> classes needed for Particle filter algorithm and Map representation
  • pf_collect_data_node.py -> node for collecting the data from Odometry and Lidar and storing in Data folder
  • pf_algo.py -> calculating particles at each step using Data folder and storing results in Data/Estimation folder or just plotting the results directly from Data/Estimation folder