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https://github.com/daniel-m-campos/where-am-i
https://github.com/daniel-m-campos/where-am-i
ros udacity
Last synced: about 23 hours ago
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- Host: GitHub
- URL: https://github.com/daniel-m-campos/where-am-i
- Owner: daniel-m-campos
- Created: 2021-06-07T18:20:22.000Z (over 3 years ago)
- Default Branch: master
- Last Pushed: 2021-06-18T14:31:40.000Z (over 3 years ago)
- Last Synced: 2023-12-28T04:25:18.789Z (11 months ago)
- Topics: ros, udacity
- Language: Shell
- Homepage:
- Size: 3.05 MB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Where-Am-I Project
### Install Requirements
This project requires `gcc>=9` due to the use of `C++17`.
```sh
$ git clone https://github.com/daniel-m-campos/where-am-i.git --recurse-submodules
$ where-am-i
$ source install-ubuntu.sh
```
#### Dependencies
* libignition-math2-dev
* protobuf-compiler
* ros-melodic-navigation
* ros-melodic-map-server
* ros-melodic-move-base
* ros-melodic-amcl
These are installed with `source install-ubuntu.sh` for ROS `kinetic` and `melodic` only.
### Build the workspace
```sh
$ cd /where-am-i/src
$ catkin_init_workspace
$ cd ..
$ catkin_make
```
### Launching
#### Gazebo World
```sh
$ cd /where-am-i
$ source devel/setup.sh
$ roslaunch my_robot world.launch
```
#### Localization
Open a new terminal:
```sh
$ cd /where-am-i
$ source devel/setup.sh
$ roslaunch my_robot amcl.launch
```
### Workspace Structure
```sh
where-am-i/
├── config.rviz
├── img
│ ├── Gazebo1.png
│ ├── Gazebo3.png
│ ├── Gazebo4.png
│ ├── Gazebo5.png
│ ├── RViz1.png
│ ├── RViz2.png
│ ├── RViz3.png
│ ├── RViz4.png
│ └── RViz5.png
├── install-ubuntu.sh
├── README.md
└── src
├── CMakeLists.txt -> /opt/ros/melodic/share/catkin/cmake/toplevel.cmake
└── my_robot
├── CMakeLists.txt
├── config
├── launch
├── maps
├── meshes
├── package.xml
├── urdf
└── worlds
```