tobiassteidle/RoboND_Kalman-Filter

Lab: Kalman Filters

RoboND_Kalman-Filter

Lab for Robotics Software Engineer "Kalman Filter"

Steps to launch the simulation

Step 1 Update and upgrade the Workspace image

$ sudo apt-get update
$ sudo apt-get upgrade -y

Step 2 Clone the lab folder in /home/workspace/

$ cd /home/workspace/
$ git clone https://github.com/tobiassteidle/RoboND_Kalman-Filter.git

Step 3 Compile the code

$ cd /home/workspace/RoboND_Kalman-Filter/catkin_ws
$ catkin_make

Step 4 Clone required packages

$ cd /home/workspace/RoboND_Kalman-Filter/catkin_ws/src
$ git clone https://github.com/turtlebot/turtlebot_simulator
$ git clone https://github.com/udacity/robot_pose_ekf 
$ git clone https://github.com/udacity/odom_to_trajectory
$ git clone https://github.com/turtlebot/turtlebot

Step 5 Edit robot_pose_ekf.launch

<launch>

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
  <param name="output_frame" value="odom_combined"/>
  <param name="base_footprint_frame" value="base_footprint"/>
  <param name="freq" value="30.0"/>
  <param name="sensor_timeout" value="1.0"/>  
  <param name="odom_used" value="true"/>
  <param name="imu_used" value="true"/>
  <param name="vo_used" value="false"/>

  <remap from="imu_data" to="/mobile_base/sensors/imu_data" />    

</node>

</launch>

Step 6 Install dependencies

$ cd /home/workspace/RoboND_Kalman-Filter/catkin_ws
$ source devel/setup.bash
$ rosdep -i install turtlebot_teleop
$ rosdep -i install turtlebot_gazebo

Step 7 Build Package

$ cd /home/workspace/RoboND_Kalman-Filter/catkin_ws
$ catkin_make
$ source devel/setup.bash

Step 8 Run the Simulation

$ roslaunch main main.launch

Step 9 Multiplot

rosrun rqt_multiplot rqt_multiplot

Output