This package provides a basic ROS integration for the SLAM3D mapping library. It contains a simple mapper that uses 3D-Laser-Scans and Odometry to create Pointcloud-Maps of a mobile robots surroundings together with some helper functions to create own mapping applications based on SLAM3D.
The following section assumes that the reader is familiar with the usage of the ROS eco-system. The library SLAM3D is a plain CMake-Package (non-catkin), which is normally handled by catkin-python. If you don't use these, you can either use catkin_make_isolated to build within your workspace or install SLAM3D to your system with cmake/make.
- apt install python-catkin-tools
Checkout slam3d and this package into your ROS workspace.
For better performance, activate release-build and static libs. If you want to use shared libraries set the parameter to one, but do not leave it unspecified.
- catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=0
Build your workspace.
- catkin build
To get an idea how to build your own mapping application with SLAM3D you might want to have a look at src/kitti_mapper.cpp for a minimalistic example. It only uses Pointclouds without Odometry to perform mapping based on sequential scan matching. A more sophisticated implemmentation is the somewhat generic src/mapper_node.cpp, which also uses Odometry (via tf) and GPS localization for a much more robust SLAM solution.