Localization and mapping based on particle filter with ROS and Gazebo
For now it is just localization here
Instructions to run this code:
-- need to write --
If you already have everything installed (and created catkin_ws) run these commands:
cd ~/catkin_ws/src
catkin_create_pkg localization nav_msgs sensor_msgs geometry_msgs rospy roscpp
cd localization
mkdir scripts
now copy files from this repository in scripts folder
cd ~/catkin_ws
catkin_make
Now, we have made catkin package and we only need to run everything. Now run these from new terminal:
roslaunch turtlebot_gazebo turtlebot_world.launch
now delete objects that are not nedeed and put your map in gazebo, take a picture of it and make a map
by turning obstacles into white on picture and everytning else in black, I will add a file later that helps do this
also replace slam_map.png in scripts with your map, and change its dimensions and pixel_to_meter in particle_filter.py
In another terminal run:
cd ~/catkin_ws
source devel/bash.setup
rosrun localization navigation.py
In another terminal run:
cd ~/catkin_ws
source devel/bash.setup
rosrun localization particle_filter.py