andresgarciaescalante / extended-kalman-filter

Compare the Position of a Turtlebot simulated in a Gazebo environment with a Filtered(Extended Kalman Filter) and a Unfilered Trajectories

Extended Kalman Filter

Using Gazabo, Rviz, and ROS

Setting up the enviroment:

For this project the following set up was used:

• Ubuntu 16.04 LTS OS
• Ros kinetic
• Gazebo 7.0.0
• Rviz 1.12.17

Installation steps:

• Clone this repository to your home directory:

$ git clone https://github.com/AndresGarciaEscalante/Sensor_Fusion_EKF

• Review the documentation and dependecies of the Packages mentioned below.

• Launch the main file:

$ source devel/setup.bash
$ roslaunch main main.launch

• Run the rqt_plot package node:

$ rosrun rqt_multiplot rqt_multiplot

Project Description

Turtlebot Package

Provide with a gazebo enviroment and the turtlebot.

For more detailed information please refere to the following link: Turtle_bot_Package

Robot Pose EKF Package

Applies Sensor Fusion a group of sensors. Some modification were made to interface with the Turtlebot Package and the Robot Pose EKF Package as shown in the following image:

For more detailed information please refere to the following link: Robot Pose EKF Package

Odometry to Trajectory Package

Allows to display the Unfiltered and Filtered Position Trajectories. The result is shown bellow:

For more detailed information please refere to the following link: Odometry to Trajectory Package

TurtleBot Teleop Package

Allows the movement of the Turtlebot in the gazebo environment by using keyboards.

For more detailed information please refere to the following link: TurtleBot Teleop Package

Project Outcome

The main objective of the project is to visualice the efficiency of the Extended Kalman Filter to determine the position of the robot. Please check the video:

ExtendedKalmanFilterProject