IMPLEMENTATION OF SLAM-EKF for Independent Steer & Independent Drive robot on Isaac SIM

How to run:

1. install all dependencies

pip install -r requirements.txt

2. build ROS2 workspace

cd ros2ws
colcon build

3. To run EKF-filter (in ros2ws)

cd
source /opt/ros/humble/setup.bash
cd ros2ws
source install/setup.bash
ros2 run ekf_filter ekf_filter 

4. To run Slam-EKF

cd
source /opt/ros/humble/setup.bash
cd ros2ws
source install/setup.bash
ros2 run ekf_filter slam_ekf

Reference for installation guide: ROS2 Humble: https://docs.ros.org/en/humble/Installation.html ISAAC SIM 4.2.0: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/index.html ISAAC SIM .usd file not available due to copywrite