This is a project for cognitive robotics course. It is implemented using ROS and simulation of summit-xl robot navigating in the willow garage environment. The project implemets grid mapping and SLAM (Simultaneous Localization and Mapping) for the robot.

the scripts are for ubuntu, and it is adviced to use ubuntu20.04
You can use this but it is slow.

• Robot controls with keys W, A, S, and D. (CR_req)
• Sensors incorporation. (CR_req_b)
• Mapping with known poses using Occupancy Grid mapping. (CR_req_c)
• FastSLAM using particle filter. (CR_req_c)

1- Download ROS Full version: link

2- Clone this Repo

3- Delete build folders

4- in each directory cr_req..: run catkin_make

in multiple terminals, do the following:

cd cr_project
roslaunch summit_xl_sim_bringup summit_xls_complete.launch

rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/robot/robotnik_base_control/cmd_vel

or cd cr_req
source ./devel/setup.bash
chmod +x src/req_pkg/script/control_wasd.py -> only once
rosrun req_pkg control_wasd.py

cd cr_req_b
chmod +x src/req_b_pkg/script/sensor_reading.py -> only once
source ./devel/setup.bash
roslaunch req_b_pkg multi.launch

cd cr_req_c
source ./devel/setup.bash
chmod +x src/req_c_pkg/script/grid_mapping.py -> only once
rosrun req_c_pkg grid_mapping.py

cd cr_req_c
source ./devel/setup.bash

chmod +x src/req_c_pkg/script/localizer.py -> only once
rosrun req_c_pkg localizer.py

chmod +x src/req_c_pkg/script/slam2.py -> only once
rosrun req_c_pkg slam2.py