where_am_i

MCL algorithm applied to the localize a simulated robot using ROS nodes

Running Environment

First launch the simulation:

roslaunch where_am_i world.launch

In a new terminal, launch the amcl launch file:

roslaunch where_am_i amcl.launch

Sending Navigation Goal:

You can send a 2D Nav Goal from RViz: 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.

Testing Using teleop Node:

Open a terminal and launch the teleop script:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py