sensor_fusion_with_TurtleBot

Turltlebot Repo:

Clone the package from below link

turtlebot package here

Once the package is cloned into the workspace install the dependencies for the package by running following command

rosdep -i install turtlebot_gazebo

After installing all the dependencies we are ready to lauch turtlebot_gazebo world. So run the command

roslaunch turtlebot_gazebo turtlebot_world.launch

You may see some error like this

So the error itself clearly says that the enviroment variable for 'TURTLEBOT_GAZEBO_WORLD_FILE' is not set

To fix this error we need to provide the path to the variable. We can do this by either 
adding the below command in setup.bash file or can set the variable for current terminal session
basically we can set any world path ( if you have any other world file feel free to give its path, as of
now I am setting it to default)

default path export TURTLEBOT_GAZEBO_WORLD_FILE=/opt/ros/kinetic/share/turtlebot_gazebo/worlds/playground.world

coustom export TURTLEBOT_GAZEBO_WORLD_FILE=home/workspace/MyWorldProject/world/RoboRestaurant__.world

once the enviroment variable is set we launch the turtlebot_world by running the command

roslaunch turtlebot_gazebo turtlebot_world.launch

turtlebot world

we can check all the topics which the robot is publishing and subscribing by two method, 
run any of the command given below	

• rostopic list command
• rqt_graph command

robot_pose_ekf Package

check readme file

odom_to_trajectory Package

this package will produce robot two trajectory after accumulating 1000 samples from below sources

• one based odom data
• other with ekf_output data

check odom_to_trajectory_package

turtlebot package

this package will be used to issue command to the robot ( teleop)

Launch everything at once

To launch all the nodes with a lauch file we can run the command roslaunch main_package main.launch it will launch

• gazebo world with turtlebot
• rviz
• turtlebot_teleop_node
• ekf_package nodes
• odom_to_trajectory
• also it will load the rviz with configuration file located in main_package

Image from RVIZ view

*Visualize trajectories in rqt_multiplot *

Installing required pacages

apt-get install ros-kinetic-rqt -y

apt-get install ros-kinetic-rqt-multiplot -y

apt-get install libqwt-dev -y

rm -rf ~/.config/ros.org/rqt_gui.ini

Launch the rqt_multiplot by rosrun rqt_multiplot rqt_multiplot command

Create two plot one from /odom topic and from filtered_pose_from_ekf_pacage robot_pose_ekf/odom_combined topic so genrate two graph X vs Y axis from above topics and you will be able to monitor the poses in qut_multiplot window after tapping on play button (don't forgot to navigate the robot with teleop command as the graph will not update without it)