ME495 Sensing, Navigation and Machine Learning For Robotics

• Author: Fiona Neylon
• Quarter: Winter 2024

Package List

This repository consists of several ROS packages

• nuturtle_description - package that vizualizes the 4 turtlebot3 burgers based on the turtlebot3 burger model from the turtlebot3 repo.
• turtlelib - C++ library that contains the geometry and SE(2) geometry classes and svg classes for vizualization of transformations.
• nusim - package that simulates the turtlebot3 burgers in a 2D environment with walls and cylindrical obstacles.
• turtle_control - package that contains the odometry and controller nodes for the nusim simulation and for the real turtlebot3 burgers.
• nuslam - package that contains the main EKF SLAM implementation and the landmark detection and association nodes.

Final EKF SLAM Implementation Demo (Simulation):

final_slam_video.webm

Turtle Circle Demo

fiona_hw2_video.webm

trim.F8D047EE-EA6E-4DB2-BE00-891B60342BE3.MOV

Final Location of the Turtlebot: {position-x: 0.24, y: 0.09, z: 0.0; Orientation-x: 0.0, y: 0.0, z: 0.35, w: 0.94}