Extended Kalman Filter SLAM From Scratch

Package List

This repository consists of several ROS packages

• nuturtle_description - This package contains urdf files and basic debugging, testing, and visualization code for turtlebot3s.
• nusim - This package contains ros nodes and launchfiles that display turtlebots inside a user-defined arena with user-defined obstacles.
• nuturtle_control - This package enables control of the turtlebot via geometry_msgs/msg/Twist messages on the cmd_vel topic.
  • This package contains three nodes:
    • turtle_control - Manage the flow of information between all nodes. Convert twists into wheel command values, and motor encoder values into joint states.
    • odometry - Perform odometry calculations for the turtlebot, and publish them for other nodes to see
    • circle - Command the robot to move in a circle, and offer some additional movement related services (stopping and reversing)
• nuslam - This package contains a node and a launch file that performs EKF SLAM using the turtlebot.

This repository also consists of a custom c++ library:

• turtlelib - This library contains functions for performing geometry operations in se(2) space and displaying these operations in svg files for testing. This is a C++ library with unit tests for confirming functionality.

To run SLAM with simulated landmark data:
type in the following command:

$ ros2 launch nuslam slam.launch.py

To run SLAM with unknown data association from LIDAR:

$ ros2 launch nuslam unknown_data_assoc.launch.xml

To run SLAM on the turtlebot:
on the turtlebot, type in the following command:

$ ros2 launch nuslam turtlebot_bringup.launch.py

on your computer:

$ ros2 launch nuslam pc_bringup.launch.py

Also check out the post on my website about this project that explains a little more of what it's about: https://graham-clifford.com/SLAM-from-scratch/