This project is an education version of RoboRTS-SLAM (2d-version).
Front-End: correlative scan matching and optimization based scan matching.
Back-End: Graph optimazation wrappered from SLAM-Karto.
mkdir -p roborts_edu_ws/src
cd roborts_edu_ws/src
git clone https://github.com/SUSTech-Robotics/RoboRTS-Edu.git
cd ..
sudo rosdep init
#The command ‘sudo rosdep init’ will print an error if you have already executed it since installing ROS.
#This error can be ignored.
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make
For more information about RoboMaster AI Robot platform and RoboRTS framework, please refer to RoboRTS-Edu Tutorial
- slam_karto
- Olson, Edwin B. "Real-time correlative scan matching." 2009 IEEE International Conference on Robotics and Automation. IEEE, 2009.
- Konolige, Kurt, et al. "Efficient sparse pose adjustment for 2D mapping." 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2010.
This project is developed by @KevinLADLee and fengyu in RoboMaster.
Special thanks for all RoboRTS project members:
- Noah Guo
- Charles Yang
- Dunkem Wen
RoboRTS-SLAM is provided under the GPL-v3.