A ROS package using amcl ros package for localization of a two wheeled differential drive robot in a known environment
- Clone the repositry
git clone https://github.com/Vamsi-IITI/AMCL_AGV.git
- You may need to edit amcl launch file , there in rviz node you need to give path of rviz_config.rviz file in your system
- Enter the repositry and make
cd AMCL_AGV
catkin_make
- Launch my_robot in Gazebo
roslaunch my_robot world.launch
- Launch amcl node
roslaunch my_robot amcl.launch
The mobile robot can be navigated using two features and hence we have two options to control your robot while it localize itself here:
- Send navigation goal via RViz
- Send move command via teleop package.
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Navigate your robot, observe its performance and tune parameters for AMCL.
