AMCL Localization

This repo contains localization of a four wheeled mobile robot inside an office using ROS amcl localization package

Directory Structure

.
├── catkin_ws
│   └── src
│       ├── amcl_localization
│       │   ├── CMakeLists.txt
│       │   ├── config
│       │   │   ├── base_local_planner_params.yaml
│       │   │   ├── costmap_common_params.yaml
│       │   │   ├── global_costmap_params.yaml
│       │   │   ├── local_costmap_params.yaml
│       │   │   └── __MACOSX
│       │   ├── launch
│       │   │   └── amcl.launch
│       │   ├── maps
│       │   │   ├── map.pgm
│       │   │   └── map.yaml
│       │   └── package.xml
│       ├── CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
│       ├── pgm_map_creator
│       │   ├── CMakeLists.txt
│       │   ├── launch
│       │   │   └── request_publisher.launch
│       │   ├── LICENSE
│       │   ├── maps
│       │   │   └── map.pgm
│       │   ├── msgs
│       │   │   ├── CMakeLists.txt
│       │   │   └── collision_map_request.proto
│       │   ├── package.xml
│       │   ├── README.md
│       │   ├── src
│       │   │   ├── collision_map_creator.cc
│       │   │   └── request_publisher.cc
│       │   └── world
│       │       └── Office01
│       ├── robot
│       │   ├── CMakeLists.txt
│       │   ├── launch
│       │   │   ├── robot_description.launch
│       │   │   └── world.launch
│       │   ├── meshes
│       │   │   └── hokuyo.dae
│       │   ├── package.xml
│       │   ├── rviz
│       │   │   └── RViz.rviz
│       │   ├── urdf
│       │   │   ├── my_robot.gazebo
│       │   │   └── my_robot.xacro
│       │   └── world
│       │       ├── empty.world
│       │       └── office.world
│       └── teleop_twist_keyboard
│           ├── CHANGELOG.rst
│           ├── CMakeLists.txt
│           ├── package.xml
│           ├── README.md
│           └── teleop_twist_keyboard.py
├── image
│   └── out.gif
├── LICENSE
└── README.md

Steps to launch the simulation

Step 1 clone the repository and build it

$ git clone https://github.com/farzingkh/AMCL-Localization.git
$ cd AMCL_localization/catkin_ws
$ catkin_make
$ source devel/setup.bash

Step 3 Run the robot simulation

$ roslaunch robot world.launch

Step 4 Run the processing and command nodes

$ roslaunch amcl_localization amcl.launch
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Output