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Lego EV3Dev(linux) + ROS with Extended Kalman Filter

This repository is a reproduction of the Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT paper using a Lego EV3 and ROS instead.

References for Odmetry

In order to implement odmetry for Ev3Dev, one can use Odometrium as reference. There is also an example of how to perform odometry in ROS Navigation tutorials section.

References for Kalman Filter

There is an implemented package for Kalman Filter that combines Odometry and visual information. It is called Robot Pose EKF.

For further details, please check out our Wiki.

Pending Tasks

  • add code inside EV3 to read sensors
  • add description of how ultra-sound sensors measurement is different from article infra-red sensors
  • add rviz code in master to read sensors measurement from lego
  • create code for odometry in lego
  • send odometry to ekf_robot_pose running on ros_master