This is a C++ based ROS navigation project which starts from writing a 2D differencial robot kinematic library and ends with an ekf slam navigation part. This is actually a course project in Northwestern University, 2020 winter.
Ubuntu Version: 18.04
ROS Version: melodic
- nuslam: package run ekf-slam
- nuturtle_description: for robot description files like urdf and some kinematic parameters
- nuturtle_gazebo: creating a virtual robot model in gazebo
- nuturtle_robot: connecting ros code with real robot called turtlebot3-burger
- nuturtlebot: some essential files for Northwestern turtlebot
- righd2d: fundamental files for this project,including some kinematic libraries, and fake_encoder,odometer nodes.
- tsim: get familiar with ROS by control turtle in turtlesim package.