Course Project from Robotics Software Engineer - Localization. Demonstrates robot localization inside created before world with adaptive Monte Carlo algorithm (amcl).
- Launches the custom wolrd with robot.
- Launches amcl node to localize the robot.
- Launches move_base node to demonstrate robot localization
With help of 2D Nav Goal botton in rviz gui user can set a goal and robot attempts to reach it.
In addition there is a possibility to control robot movements via teleop package.
To launch world:
roslaunch my_robot world.launch
To launch amcl and move base node:
roslaunch my_robot amcl.launch
To launch teleop:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py