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Creating Occupancy Grid Maps using Static State Bayes filter and Bresenham's algorithm for mobile robot (turtlebot3_burger) in ROS.

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grid-mapping-in-ROS

Creating Occupancy Grid Maps using Static State Bayes filter and Bresenham's algorithm for mobile robot (turtlebot3_burger) in ROS.

  • bagfiles are created by manually driving the robot with turtlebot3_teleop, topics recorded: '/scan' and '/odom'
  • grid maps can be created from bagfiles using create_from_rosbag.py
  • grid maps can be created in real time using rtime_gmapping_node.py

Content

  • bagfiles -> folder containing recorded rosbag files
  • maps -> folder containing images of Gazebo maps as well as output grid maps
  • papers -> materials used for the project
  • scripts -> python scripts

Results

real_time_gmapping

stage_4_compared

world_compared

house_compared

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Creating Occupancy Grid Maps using Static State Bayes filter and Bresenham's algorithm for mobile robot (turtlebot3_burger) in ROS.

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