EKF SLAM with Landmark Detection and Unknown Data Association

Packages

This repository consists of several ROS packages

• nusim - contains simulator for the NUTurtle world.
• nuslam - contains a node for performing Extended Kalman Filter SLAM with the NUTurtle.
• nuturtle_control - contains nodes for interfacing with and controlling the NUTurtle.
• nuturtle_description - contains URDF and configuration parameters for the NUTurtle.

Other include packages:

• turtlelib - a C++ library with classes for 2D kinematics and odometry for differential drive robots.
• turtlelib_ros - a C++ library to handle interactions between the turtlelib library and ROS.

Dependencies

Dependencies for this package are listed in the turtle.repos file. To import all dependencies, clone this repository as nuturtle into the src directory in your workspace root. Then from the workspace root directory, run the command:

vcs import src < src/nuturtle/turtle.repos