This is My Implementation of Udacity Robotics Software Engineer NanoDegree Program Term-2 Where am I Project

This project is the localization project of the Udacity Robotics Software Engineer Nanodegree. For this project, Adaptive Monte Carlo Localization (AMCL) algorithm, also known as Particle Filter, applied in ROS to estimate the robot's pose. See the writeup for an extended discussion of the project's theoretical content on localization and parameter tuning.

The project was developed on Ubuntu 18.04 LTS with ROS Melodic, Gazebo and catkin installed. However it should also work with Ubuntu 16.04 and ROS Kinetic.

The robot relies on the amcl, navigation_stack and move_base ROS packages, which should be installed through apt-get.

Use catkin to build the packages from source. From catkin_ws, run:

catkin_make; source devel/setup.bash

to build the workspace packages and add them to the paths of ROS.

Repo contains two different robots. For benchmark robot (udacity_bot) run the following commands in seperate terminals.

roslaunch udacity_bot udacity_world.launch

roslaunch udacity_bot amcl.launch

rosrun udacity_bot navigation_goal_u

For personal robot (ozdemre_bot) run the following commands in seperate terminals.

roslaunch ozdemre_bot udacity_world.launch

roslaunch ozdemre_bot amcl.launch

rosrun ozdemre_bot navigation_goal