Overview

This repository contains all the code needed for the final project for the Localization course in Udacity's Self-Driving Car Nanodegree.

Project Introduction

A robot has been kidnapped and transported to a new location! Luckily it has a map of this location, a (noisy) GPS estimate of its initial location, and lots of (noisy) sensor and control data.

In this project a 2 dimensional particle filter is implemented in C++. A map and some initial localization information (analogous to what a GPS would provide) is given. At each time step the particle filter will also receive observation and control data.

Running the Code

This project requires the Term 2 Simulator which can be downloaded here

This repository includes two files that can be used to set up and intall uWebSocketIO for either Linux or Mac systems. For windows you can use either Docker, VMware, or even Windows 10 Bash on Ubuntu to install uWebSocketIO.

Once the install for uWebSocketIO is complete, the main program can be built and ran by doing the following from the project top directory.

mkdir build cd build cmake .. make ./particle_filter

Inputs to the Particle Filter

You can find the inputs to the particle filter in the data directory.

The Map*

map_data.txt includes the position of landmarks (in meters) on an arbitrary Cartesian coordinate system. Each row has three columns

1. x position
2. y position
3. landmark id

For convenience, the code can built using the ./build.sh script, and be run using the ./run.sh script.