EKF SLAM
Implementing SLAM on Turtlebot3-burger
Project: EKF SLAM from scratch using C++ and ROS
Description:
- The goal is to implement a feature based Extended Kalman Filter SLAM using ROS2 and C++ on a turtlebot3 burger from scratch in simulation as well as on a real robot. The complete pipeline includes the starting point of making a Kinematics library for movement and control, creating a simulation using the created library and
Circle: The video of controlling the turtlebot to move in a circle:
Video: The SLAM implementation in Simulation
The code can be found at this github link