tszandy/CS603_Particle_Filter

Starter Code for CS603 Assignment on Particle Filtering

CS603_Particle_Filter

Particle filter for mobile robot localization using a laser rangefinder.

Dependencies

Install ROS

And install additional dependencies

sudo apt-get install cmake build-essential clang libgoogle-glog-dev  libgflags-dev libgtest-dev

Clone This Repository

git clone --recurse-submodules git@github.com:tszandy/CS603_Particle_Filter.git

IMPORTANT: The --recurse-submodules is required to clone the shared library submodule.

Build Instructions

1. Clone this repo, and enter the directory. All subsequent commands must be run from within the directory.
2. Add the project to the ROS packages path:

   export ROS_PACKAGE_PATH=/PATH/TO/YOUR/REPO:$ROS_PACKAGE_PATH

   Pro-tip: add this line to your .bashrc file.
3. Run make.
   DO NOT RUN cmake directly.
   DO NOT RUN catkin_build or anything catkin-related.

Run

1. Before starting programs that use ros, you will need to start a roscore instance in a terminal that you keep open:

   roscore
   

2. To run the particle filter with a bag file named myfile.bag:

   ./bin/particle-filter --input myfile.bag
   

3. To visualize the particle filter in RViz, run the following while also running your filter:

   rosrun rviz rviz -d particle-filter.rviz
   

Example Bag Files

An example bag file for you to test with can be downloaded here. Please make sure you do not include the bag file with your submission.