AMCL localization

The package my robot lauches the acml node. After which using move_base (2d nav goal) the required localization results were acheived. This is an excercise as a part of the Udacity Robotics Software Engineer Nano degree.

Demo

Usage

• Install the required dependencies as shown below :

$ sudo apt-get install ros-kinetic-navigation
$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-move-base
$ sudo apt-get install ros-kinetic-amcl

• Clone the repo. Note that the repo uses git lfs to maintain the large map files. Install git lfs as shown below:

$ curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
$ sudo apt install git-lfs

The above is for debian systems if you need to install in any other follow this link

• Once installed get into the localization directory and follow this:

cd localization
git lfs install 
git lfs pull

• Now Catkin make the repo and launch it as shown:

roslaunch my_robot amcl.launch