Introduction to Mobile Robotic - Coursework 2

The objective of this exercise is for you to implement, analyze, and understand the working of a particle filter localisation algorithm. You will be working in simulation, using the Stage environment and RViz 2.

1. Setup your workspace

Clone the Github repository

git clone https://github.com/LCCZK/MOB_Coursework_2.git

Go the the root directory of the repo and update all submodules.

cd MOB_Coursework_2
git submodule update --init --recursive

Source youe ros2 installation and set the ROS_LOCALHOST_ONLY environment variable

echo "source /opt/ros/jazzy/setup.sh" >> ~/.bashrc
echo "export ROS_LOCALHOST_ONLY=1" >> ~/.bashrc

2. Working with ROS

Build your ROS workspace with colcon, *run form the root directory of the repo --symlink-install is not supported for this workspace.

colcon build

Source your work space with

source install/setup.bash 

3. Your tasks

You only have to make changes to pf.py under src/pf_localisation/pf_localisation/pf.py, implement the logic to initiate a particle cloud, resample the particle cloud and estimate a pose from your particle cloud.

4. Test your implementation with simulation

A example launch file is provided under src/pf_localisation/launch/example_pf.launch.py, you can try it with:

ros2 launch pf_localisation example_pf.launch.py

You may also write your own launch script if you wish so.