Project Overview

Welcome to the Where Am I? localization project! In this project, you will learn to utilize ROS AMCL package to accurately localize a mobile robot inside a map in the Gazebo simulation environments.

Over the course of this lesson, you will learn several aspects of robotic software engineering with a focus on ROS:

Create a ROS package that launches a custom robot model in a custom Gazebo world
Utilize the ROS AMCL package and the Tele-Operation / Navigation Stack to localize the robot
Explore, add, and tune specific parameters corresponding to each package to achieve the best possible localization results

Task Description:

Tasks: Where Am I Project

Task List:

Set up simulation: environment and robot

Generate ground truth map from your Gazebo world

Build your AMCL launch file

Select proper localization parameters

Optional: Add teleop node

Put it all together

Task Feedback:

Great job completing the localization project!

Udacity Classroom Workspaces

Udacity will provide you with a ROS Workspace to work on this project. It is in the 'Project Workspace' concept at the end of this lesson. By now you should be quite familiar with it. Here is the lesson for a recap: Udacity Workspace Instructions

Launch your Workspace's desktop GUI. Now, you are all set to start the Where Am I? Project!

Native Installation & Virtual Machine

If you are working with a native ROS installation or using a VM, some of the following package might need to be installed. You could install them as shown below:

$ sudo apt-get install ros-kinetic-navigation
$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-move-base
$ sudo apt-get install ros-kinetic-amcl