Landmark-based EKF-SLAM with Machine Learning from Scratch

• Tianyu Li

• Started Winter 2021

• For project description, please visit project link

Package List

This repository consists of several ROS packages

• nuturtle_description - Adapts the model of turtlebot3 for our needs and display it in rviz
• rigid2d - A library for performing 2D rigid body transformations
• trect - Makes a turtle in the turtlesim to move in a rectangular trajectory
• nuturtle_robot - Provides interface and interaction with turtlebot hardware
• nurtlesim - Creates kinematic simulation for a diff drive robot
• nuslam - Runs the Extended Kalman Filter SLAM

Dependencies

nuturtlebot (for urdf)
https://github.com/ME495-Navigation/nuturtlebot.git

catch_ros (for testing)
https://github.com/AIS-Bonn/catch_ros.git

Launch

To run the SLAM in rviz with known data association

roslaunch nuslam slam.launch

To run the SLAM in rviz with unknown data association

roslaunch nuslam unknown_data_assoc.launch

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