Landmark-based EKF-SLAM with Machine Learning from Scratch

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

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

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

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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