EKF SLAM with Turtlebot3

Anna Garverick
Winter 2022

Package List

nuturtle_description

Modifies the TurtleBot3 URDF file to spawn multiple turtlebots in RVIZ with color arguments
nusim

Spawns a turlebot with obstacles in RVIZ
nuturtle_control

Interfaces commands with the real or simulated turtlebot
nuslam

Maps the environment and localizes the turtlebot in the map frame using data association with LiDAR point cloud data and an extended kalman filter