RobotProgramming

RobotProgramming Project 2023/2024, starting 26.02.2024

DMAP-based localization (Project 2)

How to run:

• first of all, remember to use: source /opt/ros/noetic/setup.bash
• when compiling, remember to use: source devel/setup.bash

1. start roscore
2. start map_server using rosrun map_server map_server map.yaml
3. start rviz
4. start localizer using rosrun localizer node-localizer
5. use 2D estimate pose in rviz to set initial pose
6. start stageros using rosrun stage_ros stageros map.world
7. now you can move from stage_ros your robot and on rviz you can see by observing odom messages and their frames the estimation of the position of the robot