ME495 Sensing, Navigation and Machine Learning For Robotics

• Jared Berry
• Winter 2026

Package List

This repository consists of several ROS2 packages, as well as a regular C++ library.

• nuturtle_description - ROS2 package containing URDF files, debugging, testing, and visualization functionality for all robots in this project.
• nusim - ROS2 package containing the main turtlebot simulator for this project.
• nuturtle_control - ROS2 package enabling control of a 2 wheel diff drive mobile robot.
• nuslam - ROS2 package that implements EKF SLAM for a turtlebot with LiDAR sensing.
• turtlelib - C++ library for 2D linear algebra.

Notes

To build with VS Code intellisense:

colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

To run super verbose output from tests:

colcon test --event-handlers console_direct+

To fix file formatting:

ament_uncrustify --reformat /path/to/file.cpp