Localization_using_AMCL

Using ROS AMCL package to accurately localize a mobile robot inside a map in the Gazebo simluation environment

Project Aim:

1. Create a ROS package that launches a custom robot model in a custom Gazebo world
2. Utilize the ROS AMCL package and the Tele-Operation / Navigation Stack to localize the robot
3. Explore, add, and tune specific parameters corresponding to each package to achieve the best possible localization results

Installation:

$ sudo apt-get install ros-kinetic-navigation
$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-move-base
$ sudo apt-get install ros-kinetic-amcl

Steps to Launch:

step 1 create the catkin_ws

$ mkdir -p /home/workspace/catkin_ws/src
$ cd /home/workspace/catkin_ws/src
$ catkin_init_workspace
$ cd ..
$ catkin_make

Step 2 Perform a System Update/Upgrade

$ apt-get update
$ apt-get upgrade -y

Step 3 Clone the Package in src

$ cd /home/workspace/catkin_ws/src
$ git clone https://github.com/mahendraseervi/Localization_using_AMCL.git

Step 4 Build the Packages

$ catkin_make
$ source devel/setup.bash

Step 5 Launch the gazebo world with robot model

$ roslaunch my_robot world.launch 

Step 6 Launch the amcl_localization launch files

$ roslaunch amcl_localization amcl.launch

Step 7 Launch the rviz and save the required configuration

$ rosrun rviz rviz -d amclocalization_rviz.rviz 

Step 7 use the teleop_twist_keyboard to move the robot and localize it

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py 

Now, you should see Gazebo and rviz launching with robot localized in the map

Images :

Map created using pgm_map_creator ros package:

Robot in the gazebo simulation world:

Robot localized in rviz (zoomed in):

Robot localized in rviz (zoomed ou):