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RoME.jl

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Introduction

Robot Motion Estimate: A set of functions for developing robotics-related navigation, tracking, and mapping (i.e. SLAM) front-ends using the [Multi-modal iSAM] backend solver. The backend is implemented more abstractly in the IncrementalInference.jl package. See the related references of interest here. Most notably, this package provides common navigation-type variables and factors to be included in more general DistributedFactorGraphs.jl graph objects.

Please contact info@navability.io for further support on this package, NavAbility.

Installation

You can directly install with:

using Pkg
Pkg.add("RoME")

If you are interested in a broader toolkit, which includes a visualizer and database interaction, please see Caesar.jl.

Consider Citing

We are grateful for many, many contributions within the Julia package ecosystem -- see the Caesar.jl/Project.toml (and upstream package) files for a far reaching list of contributions.

Consider citing our work using the common reference at Caesar.jl Citation with IncrementalInference.jl DOI.

Examples

docs See project wide Caesar.jl documentation for more details (click on badge).

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Comments and Issues Welcome

Please don't hesitate to open issues or suggestions in line with JuliaRobotics code of conduct. Find the Gist here.