Dataset and Model

Dataset

We created a dataset through the ROSBAG of the topics:

1. /odom (Odometry)
2. /ground_truth/state (Ground Truth Pose)
3. /explorer/marker (id, range and beam landmark)
4. /scan (Scan Laser)
5. /amcl_pose (compare with AMCL)
6. /explorer/pose_filtered

How run

On terminal run the following command

rosbag play ride.bag --clock

Gazebo Model

Environment in the gazebo with a 4x4 square (meters) and 8 aruco tag, 2 on each side.