Please note that this is experimental code. Thus, it is neither stable nor does it follow sane programming guidelines.
Teaser video at https://www.youtube.com/watch?v=j1vs0sUXAQc
If you want to try:
git clone https://github.com/smARTLab-liv/sdf_slam_2d.git --branch=iros15
rosdep install sdf_slam
apt-get install ros-indigo stdr-simulator
apt-get install ros-indigo-teleop-twist-keyboard
catkin_make
roslaunch sdf_slam_2d local_stdr_sim.launch
roslaunch sdf_slam_2d local_sdf_slam_stdr.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=robot0/cmd_vel
rosrun rviz rviz -d $(rospack find sdf_slam_2d)/cfg/sim.rviz
