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Turtlebot3 SLAM from Scratch

Author: Yael Ben Shalom

Table of Contents

Project Description

This repository contains my implementation of feature-based EKF SLAM with unsupervised learning. I implemented all the packages from Scratch using ROS in C++.

Please visit my website for more information about this project.
For further information about the packages, classes, and methods used in this project, please visit package documentation.

Package List

This repository consists of several ROS packages:

  • nuturtle_description - A package that adapts the turtlebot3_burger, a differential drive robot, for our needs.
  • rigid2d - A package that handles transformations in SE(2).
  • trect - A package that causes the turtlesim turtle to follow a rectangle path.
  • nuturtle_robot - A package that stores the code that interacts with the turtlebot hardware.
  • nurtlesim - A package that simulates the robot kinematics and a sensor that detects the relative x, y positions of landmarks and a landmark id.
  • nuslam - A package contains the implementation Feature-Based Kalman Filter SLAM.

This repository uses external package:

  • nuturtlebot - Additional package to help us work with the lower-level hardware on the turtlebot. In order to run this project, please download the turtle.rosinstall file.

Getting Started

  1. Create a workspace and clone the repo:

    mkdir -p ws/src && cd ws/src
git clone https://github.com/YaelBenShalom/Turtlebot3-SLAM-from-scratch.git

  2. Download and install the turtle.rosinstall file to get the necessary packages:

    cd ..
vcs import src <PATH_TO_ROSINSTALL_FILE>.rosinstall

    Alternativly, clone this repository into the source space ws/src.

  3. Build and source the workspace:

    cd ..
catkin_make
source devel/setup.bash