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Shermbot Navigation Project Winter 2021

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.

Package List

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 corresponding Odometry messages.
  • trect - A package that commands a turtle to follow a rectangular trajectory in the turtlesim_node.
  • nuturtlesim - A package that contains a simulator for the turtlebot and its environment using rviz. 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 the nuturtlesim node.