Project Where Am I

Project #3: Where Am I /src files.

Project associated with using a robot assembled in project 2, introducing it to a customized world (with some obstacles), extracting the map file (using pgm_map_creator plugin) and executing and testing the AMCL localization algorithm (ROS package).

Some notes:

• Fixed bugs related to subcribe laser dada sensor to AMCL node, related to the (incorrect) reference to topic /laser/scan (in amcl.launch and costmap_common_params.yaml file) that should be simple /scan as programmed (appears) in final lines of the my_robot.gazebo file;
• Varied some parameters (related to AMCL algorithm) in costmap_common_params.yaml file;
• extended laser sensor opening angle from -90 to +90 degrees to -120 to +120 degrees -- my_robot.gazebo.

Fernando Passold, 16 Feb 2021.