Julien Blanchet | Robotics Perception Systems | 2/2/20

• Run on an Husarion ROSbot
• Ubuntu 16.04 with ROS Kinetic Installed

This repository is intended to be a single package within a catkin repository. Therefore, you must use an exising catkin workspace or create a new one. Steps for setup:

1. cd to the src folder of your catkin workspace
2. copy the contents of this repositrory into a folder titled julienb_kalmanfilter (this will be the package name)
3. Download the bag file from https://1drv.ms/u/s!AiFiPYRO3Kyph49sCXQj4euRLGRaRA?e=ATnOvU and save it as <workspaceroot>/src/julienb_kalmanfilter/bags/record.bag
4. Run catkin_make at the root of your workspace.

1. roslaunch julienb_kalmanfilter filter1.launch to execute task #1
   • mode:=b The path estimated by the Kalman Filter, using cmd_vel and scan
   • mode:=c The path estimated by the Kalman Filter, using pose and scan
   • mode:=d The path estimated by the Kalman Filter, using cmd_vel and scan extracted by the RGB-D camera using the depthimage_to_laserscan
   • mode:=e The path estimated by the Kalman Filter, using pose and scan extracted by the RGB-D camera using the depthimage_to_laserscan