Pose-Graph SLAM with Open Karto as Front-end and SE-Sync as Backend
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package.xml adding all files Sep 1, 2017

README.md

slam_karto_sesync

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

Notes

The optimization routine used is SE-Sync 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.