Pose-graph SLAM with Open Karto as Front-end and GTSAM as Backend
C++ CMake
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Failed to load latest commit information.
CMakeModules
include/slam_karto_gtsam
src
CMakeLists.txt
LICENSE
README.md
package.xml

README.md

slam_karto_gtsam

Pose-graph SLAM with Open Karto as Front-end and GTSAM as Backend

Notes

The optimization routine used is Levenberg-Marquadt provided by gtsam, you can easily change it to something else (Powell's dog leg etc.). This package is currently tested with Ubuntu 16.04 LTS + ROS Kinetic

How-To Use

Use the given launch files. The build_map_w_params launch files uses a given param file, which you can edit to change the behavior of open_karto. Make sure to use the right scan topic. Also, the package will expect an odometry tf to be published to between odom frame and base_link (or base_footprint).

Dependencies

Support

Head on over to my blog post http://sauravag.com/2017/07/an-practical-introduction-to-pose-graph-slam/ where you can ask questions.