Map

This repository contains the implementation of a mapping system that uses a combination of sensors and algorithms to track and update a robot's movement and surrounding environment. The primary goal is to build an accurate map using available data like odometry and sensor readings.

Features

• Real-time mapping: Efficiently updates the map based on sensor data.
• Robot Pose Estimation: Uses sensor fusion (IMU and encoder data) to track the robot's pose.
• Supports ROS: Built on ROS for better robotics control and integration.
• Extended Kalman Filter (EKF) Implementation: Implements the EKF to smooth and predict robot movements.

Technologies Used

• ROS Noetic
• Python
• IMU sensor (MPU 9250)
• Odometry data (from encoders)

Installation

1. Clone the repository:

   git clone https://github.com/ahmedanwar123/map.git

2. Navigate into the project folder:

   cd map

3. Build the project: If you are using ROS with a catkin workspace:

   catkin_make
   source devel/setup.bash

Usage

Launch the mapping node:

roslaunch map map.py