README for TURTLEBOT3 NAVIGATION PROJECT

Author: Luxi Huang

Project Overview:

This totally-from-scratch project involved modeling a Turtlebot3 in Gazebo and using Differential Drive Kinematics to perform Odometry calculations. The Gazebo Plugin was developed to emulate the low-level interface on the real Turtlebot3 for the ability to develop high-fidelity code in simulation. I also implemented landmark detection on the Turtlebot3’s LIDAR, and used these features to perform EKF SLAM with Unknown Data Association.

The core project components are:

• rigid2d library containing 2D Lie Group operations for Transforms, Vectors and Twists as well as differential drive robot kinematics for odometry updates.
• nuturtle_description: houses the description of a differential drive robot with a caster wheel for support.
• nuturtle_robot: interfaces with the real Turtlebot3’s low-level controls such as setting wheel speeds and reading sensors.
• nuturtle_gazebo: contains a Gazebo Plugin to emulate the Turtlebot3’s low-level controls in Gazebo for the ability to develop in simulation.
• nuslam: library containing LIDAR feature detection methods and EKF SLAM implementation with Unknown Data Association.

HOW to install files:

Option 1:

1. Create a workspace

$ mkdir -p ~/catkin_ws/src

$ cd ~/catkin_ws/src

2. Download .rosinstall file to ~catkin_ws\src directory
3. Use wstool to install all packages on .rosinstall file

   wstool update

4. catkin_make

Option 2:

1. create catkin_ws

$ mkdir -p ~/catkin_ws/src

$ cd ~/catkin_ws/src

2. clone all packages

   git clone https://github.com/luxi-huang/Turtulebot3-Navigation.git

   git clone https://github.com/ME495-Navigation/nuturtlebot.git

3. catkin_make