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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.

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

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