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Welcome to the explorer_turtle wiki!

This project uses the extended kalman filter to provide the robot's location with the fusion of the camera sensor and odometry sensors and builds a grid map with range scan.

Softwares Version

• ROS : Kinetic

• Python: 2.7.12

• OpenCV: 3.3.1-dev

How Run

Run on simulation

Terminal tab 1

> roslaunch explorer_turtle turtlebot_start.launch

Terminal tab 2

> roslaunch explorer_turtle aruco_simulator.launch

Terminal tab 3

> rosrun image_view image_view image:=/explorer/marker/image

Terminal tab 4

> roslaunch explorer_turtle localization.launch

Terminal tab 5

> roslaunch explorer_turtle map.launch