nuslam

Package: nuslam

Author: Maurice Rahme

Package Summary

This incorporates feature detection on the Turtlebot3's LiDAR, as well as EKF SLAM with Unknown Data Association using the Mahalanobis Distance.

EKF SLAM with LiDAR Measurements:

EKF SLAM with Gazebo Landmarks:

KEY

• Gazebo Data: Orange
• Odometry/Sensor Data: Purple
• SLAM Data: Red

Feature Detection:

Launch Instructions

Run roslaunch <package_name> <launchfile.launch> --ros-args to view any optional arguments and their instructions.

Run roslaunch nuturtle_robot landmarks.launch to launch the feature detection node.

Run roslaunch nuturtle_robot slam.launch debug:=True/False to launch the EKF SLAM node using LiDAR data (False) or Gazebo data (True) for landmarks. Also launches Turtlebot3 teleop node.

landmarks.hpp/cpp

Contains the Landmark class used for feature detection.

landmarks_node.cpp

Contains the node implementation of feature detection.

ekf.hpp/cpp

Contains the EKF class used for EKF SLAM with Unknown Data Association.

slam.cpp

Contains the node implementation of EKF SLAM with Unknown Data Association.