ROS AMCL Localisation

The mobile robot able to localise itself in the simulation world through AMCL.

Installation

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

Launching

Launch the simulation environment using

$ roslaunch my_robot world.launch

Launch the amcl(including import map file, move_base, amcl)

$ roslaunch my_robot amcl.launch

Testing

• Send navigation goal via RViz
• Send move command via teleop package

Rviz Interface