Where Am I?

In this project ROS AMCL package was utilized to localize a mobile robot inside a map in the Gazebo simulation environments.

Simulation of Robot for localizing in a map

Directory Tree

.Where Am I?
├── amcl
├── assets
│   ├── localization.gif
│   └── localizationvideo.mp4
├── README.md
├── robot_world
│   ├── CMakeLists.txt
│   ├── config
│   │   ├── base_local_planner_params.yaml
│   │   ├── costmap_common_params.yaml
│   │   ├── global_costmap_params.yaml
│   │   ├── local_costmap_params.yaml
│   │   └── __MACOSX
│   ├── include
│   │   └── robot_world
│   ├── launch
│   │   ├── amcl.launch
│   │   ├── robot_description.launch
│   │   └── smallworld.launch
│   ├── maps
│   │   ├── smallworld.pgm
│   │   └── smallworld.yaml
│   ├── meshes
│   │   ├── bases
│   │   │   └── burger_base.stl
│   │   ├── hokuyo.dae
│   │   ├── RpiCamera.stl
│   │   ├── sensors
│   │   │   ├── astra.dae
│   │   │   ├── astra.jpg
│   │   │   ├── lds.stl
│   │   │   ├── r200.dae
│   │   │   └── r200.jpg
│   │   └── wheels
│   │       ├── left_tire.stl
│   │       └── right_tire.stl
│   ├── package.xml
│   ├── rviz
│   │   └── amcl.rviz
│   ├── urdf
│   │   ├── common_properties.xacro
│   │   ├── my_robot.gazebo
│   │   └── turtlebot3_burger.urdf.xacro
│   └── worlds
│       ├── model.config
│       ├── model.sdf
│       ├── model.world
│       ├── office.world
│       └── smallworld.world
└── teleop_twist_keyboard
    

104 directories, 346 files

Compiling and Running the Executable

To run the above project, clone the repository in catkin_ws/src/

cd /home/{name_of_your_workspace}/catkin_ws/src/
git clone https://github.com/navoday01/Where-Am-I

Now build and source the project in catkin_ws

cd /home/{name_of_your_workspace}/catkin_ws/
catkin_make
source devel/setup.bash

Launch robot_world package

roslaunch robot_world smallworld.launch

Launch amcl package in another terminal

cd /home/{name_of_your_workspace}/catkin_ws/
source devel/setup.bash
roslaunch robot_world amcl.launch

To navigate the robot in the environment there are two options to control the robot while it localize itself here:

• Send navigation goal via RViz

  It can be done by sending a 2D Nav Goal from RViz. The move_base will try to navigate the robot based on the localization. Based on the new observation and the odometry, the robot will further perform the localization. Click the 2D Nav Goal button in the toolbar, then click and drag on the map to send the goal to the robot. It will start moving and localize itself in the process. If you would like to give amcl node a nudge, you could give the robot an initial position estimate on the map using 2D Pose Estimate.

• Send move command via teleop package in another terminal

rosrun teleop_twist_keyboard teleop_twist_keyboard.py