RoboND-EKFLab
In this lab, you will be applying an EKF ROS package to localize your robot inside a Gazebo environment. In the end, you will be able to drive the robot around in simulation and observe the Odom
and EKF
trajectories.
Steps to Launch the Simulation:
Launch the simulation in the VM machine provided in Term1.
Step 1 Create a Catkin Workspace:
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ..
$ catkin_make
Step 2 Perform a System Update:
$ sudo apt-get update
Step 3 Clone the Package in src:
$ cd ~/catkin_ws/src
$ git clone https://github.com/udacity/RoboND-EKFLab
Step 4 Install Packages Dependancies:
$ cd ~/catkin_ws/
$ source devel/setup.bash
$ rosdep -i install turtlebot_gazebo
$ rosdep -i install turtlebot_teleop
Step 5 Build the Packages:
$ catkin_make
$ source devel/setup.bash
Step 6 Launch the main file:
$ roslaunch main main.launch
Now, you should see Gazebo and rviz launching. Please note that Gazebo might take up to 3 min to launch!
End Result:
In the terminal, use the keyboard commands(u-i-o-j-k-l-m-,-.) and drive the robot around. The red
trajectory represents the Odom path
whereas the green
trajectory represents the EKF path
.