Over the developing process of learning ROS and Gazebo, I got to understans several aspects of robotic software engineering with a focus on ROS:

• Create a ROS package that launches a custom robot model in a custom Gazebo world

• Utilize the ROS AMCL package and the Tele-Operation / Navigation Stack to localize the robot

• Explore, add, and tune specific parameters corresponding to each package to achieve the best possible localization results

• Set up simualtion: enviroment and robot
• Generate ground reference map from Gazebo world
• Building AMCL launch file
• Selecting localization parameters (see: screenshoots folder)
• Adding teleop node to control robot around the map

A short demo videoclip (of a success case): can be found on my youtube Channel 💥