Maintained by Sarah Ziselman for ME 495 Sensing, Navigating, & Machine Learning for Robotics. Shermbot Navigation (named after my dog, Sherman) covers a broad range of areas in robotic software development including writing C++ libraries, unit testing, building a simulator, landmark detection, perception, and Extended Kalman Filter SLAM. This project focuses on using the TurtleBot3 burger, a differential drive robot built and developed by ROBOTIS.
This repository consists of the following ROS packages:
nuturtle_description- A package that will be used to display a model of the turtlebot3 robot in rviz.rigid2d- A package containing several libraries used for performing 2D rigid body transformations and differential drive odometry updates. Also contains nodes that simulate a fake turtlebot and publish its correspondingOdometrymessages.trect- A package that commands a turtle to follow a rectangular trajectory in theturtlesim_node.nuturtlesim- A package that contains a simulator for the turtlebot and its environment usingrviz. It provides a space to simulate obstacles, paths, sensors, point clouds, and other desired information.nuslam- A package that contains several libraries used for circle fitting, landmark detection, and Extended Kalman Filter SLAM. Also contains nodes that perform EKF SLAM updates and are visualized in thenuturtlesimnode.