Overview

The goal is to use GTSAM library (sensor fusion) to localize the robot on a known map. We use three different Turtlebot3 sensors:

• Odometry
• LiDAR
• IMU And 2 localization libraries: AMCL, EKF.

Compilling and running

If building GTSAM from source

Fix linking error

cd /usr/local/include
sudo ln -sf eigen3/Eigen Eigen
sudo ln -sf eigen3/unsupported unsupported

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

Running

1. Start the rviz bringup

ros2 run bayesian-sensor-fusion rviz2.launch.py

2. Start the nav2 map server

ros2 run bayesian-sensor-fusion map.launch.py

3. Play included rosbag

ros2 bag play ros2_ws/src/bayesian-sensor-fusion/rosbags/waffle