ROS Index
|
slam_karto_g2o package from active_graph_slam repokobuki_plugins base_local_planner clear_costmap_recovery costmap_2d dwa_local_planner global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid open_karto graph_d_exploration slam_karto_g2o |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | LGPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/julioplaced/active_graph_slam.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-04-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Saurav Agarwal
Authors
- Saurav Agarwal
slam_karto_g2o
A ROS Package for Pose Graph SLAM that uses open_karto for the front end and g2o for backend.
Acknowledgement
This package would not have been possible without the nav2d package by Sebastian Kasperski (https://github.com/skasperski/navigation_2d)
Notes
The optimization routine used is Levenberg-Marquadt provided by g2o, 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
-
SuiteSparse: In ubuntu you can install as $ sudo apt-get install libsuitesparse-dev (www.suitesparse.com)
-
Eigen: $ sudo apt-get install libeigen3-dev (most likely it is already installed if you have ROS)
-
g2o: Downloand and install from https://github.com/RainerKuemmerle/g2o.
-
Clone open_karto to your catkin_ws/src folder (https://github.com/ros-perception/open_karto)
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 and I will try to respond in a timely manner.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| message_filters | |
| nav_msgs | |
| open_karto | |
| rosconsole | |
| roscpp | |
| sensor_msgs | |
| geometry_msgs | |
| tf | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/build_map_w_params.launch
- launch/karto_slam.launch
- Provides a reasonable set of parameters for running Karto on a robot Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-
- config/move_base.xml
Messages
Services
Plugins
Recent questions tagged slam_karto_g2o at Robotics Stack Exchange
|
|
slam_karto_g2o package from active_graph_slam repokobuki_plugins base_local_planner clear_costmap_recovery costmap_2d dwa_local_planner global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid open_karto graph_d_exploration slam_karto_g2o |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | LGPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/julioplaced/active_graph_slam.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-04-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Saurav Agarwal
Authors
- Saurav Agarwal
slam_karto_g2o
A ROS Package for Pose Graph SLAM that uses open_karto for the front end and g2o for backend.
Acknowledgement
This package would not have been possible without the nav2d package by Sebastian Kasperski (https://github.com/skasperski/navigation_2d)
Notes
The optimization routine used is Levenberg-Marquadt provided by g2o, 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
-
SuiteSparse: In ubuntu you can install as $ sudo apt-get install libsuitesparse-dev (www.suitesparse.com)
-
Eigen: $ sudo apt-get install libeigen3-dev (most likely it is already installed if you have ROS)
-
g2o: Downloand and install from https://github.com/RainerKuemmerle/g2o.
-
Clone open_karto to your catkin_ws/src folder (https://github.com/ros-perception/open_karto)
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 and I will try to respond in a timely manner.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| message_filters | |
| nav_msgs | |
| open_karto | |
| rosconsole | |
| roscpp | |
| sensor_msgs | |
| geometry_msgs | |
| tf | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/build_map_w_params.launch
- launch/karto_slam.launch
- Provides a reasonable set of parameters for running Karto on a robot Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-
- config/move_base.xml
Messages
Services
Plugins
Recent questions tagged slam_karto_g2o at Robotics Stack Exchange
|
|
slam_karto_g2o package from active_graph_slam repokobuki_plugins base_local_planner clear_costmap_recovery costmap_2d dwa_local_planner global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid open_karto graph_d_exploration slam_karto_g2o |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | LGPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/julioplaced/active_graph_slam.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-04-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Saurav Agarwal
Authors
- Saurav Agarwal
slam_karto_g2o
A ROS Package for Pose Graph SLAM that uses open_karto for the front end and g2o for backend.
Acknowledgement
This package would not have been possible without the nav2d package by Sebastian Kasperski (https://github.com/skasperski/navigation_2d)
Notes
The optimization routine used is Levenberg-Marquadt provided by g2o, 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
-
SuiteSparse: In ubuntu you can install as $ sudo apt-get install libsuitesparse-dev (www.suitesparse.com)
-
Eigen: $ sudo apt-get install libeigen3-dev (most likely it is already installed if you have ROS)
-
g2o: Downloand and install from https://github.com/RainerKuemmerle/g2o.
-
Clone open_karto to your catkin_ws/src folder (https://github.com/ros-perception/open_karto)
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 and I will try to respond in a timely manner.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| message_filters | |
| nav_msgs | |
| open_karto | |
| rosconsole | |
| roscpp | |
| sensor_msgs | |
| geometry_msgs | |
| tf | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/build_map_w_params.launch
- launch/karto_slam.launch
- Provides a reasonable set of parameters for running Karto on a robot Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-
- config/move_base.xml
Messages
Services
Plugins
Recent questions tagged slam_karto_g2o at Robotics Stack Exchange
|
|
slam_karto_g2o package from active_graph_slam repokobuki_plugins base_local_planner clear_costmap_recovery costmap_2d dwa_local_planner global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid open_karto graph_d_exploration slam_karto_g2o |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | LGPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/julioplaced/active_graph_slam.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-04-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Saurav Agarwal
Authors
- Saurav Agarwal
slam_karto_g2o
A ROS Package for Pose Graph SLAM that uses open_karto for the front end and g2o for backend.
Acknowledgement
This package would not have been possible without the nav2d package by Sebastian Kasperski (https://github.com/skasperski/navigation_2d)
Notes
The optimization routine used is Levenberg-Marquadt provided by g2o, 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
-
SuiteSparse: In ubuntu you can install as $ sudo apt-get install libsuitesparse-dev (www.suitesparse.com)
-
Eigen: $ sudo apt-get install libeigen3-dev (most likely it is already installed if you have ROS)
-
g2o: Downloand and install from https://github.com/RainerKuemmerle/g2o.
-
Clone open_karto to your catkin_ws/src folder (https://github.com/ros-perception/open_karto)
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 and I will try to respond in a timely manner.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| message_filters | |
| nav_msgs | |
| open_karto | |
| rosconsole | |
| roscpp | |
| sensor_msgs | |
| geometry_msgs | |
| tf | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/build_map_w_params.launch
- launch/karto_slam.launch
- Provides a reasonable set of parameters for running Karto on a robot Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-
- config/move_base.xml
Messages
Services
Plugins
Recent questions tagged slam_karto_g2o at Robotics Stack Exchange
|
|
slam_karto_g2o package from active_graph_slam repokobuki_plugins base_local_planner clear_costmap_recovery costmap_2d dwa_local_planner global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid open_karto graph_d_exploration slam_karto_g2o |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | LGPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/julioplaced/active_graph_slam.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-04-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Saurav Agarwal
Authors
- Saurav Agarwal
slam_karto_g2o
A ROS Package for Pose Graph SLAM that uses open_karto for the front end and g2o for backend.
Acknowledgement
This package would not have been possible without the nav2d package by Sebastian Kasperski (https://github.com/skasperski/navigation_2d)
Notes
The optimization routine used is Levenberg-Marquadt provided by g2o, 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
-
SuiteSparse: In ubuntu you can install as $ sudo apt-get install libsuitesparse-dev (www.suitesparse.com)
-
Eigen: $ sudo apt-get install libeigen3-dev (most likely it is already installed if you have ROS)
-
g2o: Downloand and install from https://github.com/RainerKuemmerle/g2o.
-
Clone open_karto to your catkin_ws/src folder (https://github.com/ros-perception/open_karto)
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 and I will try to respond in a timely manner.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| message_filters | |
| nav_msgs | |
| open_karto | |
| rosconsole | |
| roscpp | |
| sensor_msgs | |
| geometry_msgs | |
| tf | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/build_map_w_params.launch
- launch/karto_slam.launch
- Provides a reasonable set of parameters for running Karto on a robot Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-
- config/move_base.xml
Messages
Services
Plugins
Recent questions tagged slam_karto_g2o at Robotics Stack Exchange
|
|
slam_karto_g2o package from active_graph_slam repokobuki_plugins base_local_planner clear_costmap_recovery costmap_2d dwa_local_planner global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid open_karto graph_d_exploration slam_karto_g2o |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | LGPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/julioplaced/active_graph_slam.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-04-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Saurav Agarwal
Authors
- Saurav Agarwal
slam_karto_g2o
A ROS Package for Pose Graph SLAM that uses open_karto for the front end and g2o for backend.
Acknowledgement
This package would not have been possible without the nav2d package by Sebastian Kasperski (https://github.com/skasperski/navigation_2d)
Notes
The optimization routine used is Levenberg-Marquadt provided by g2o, 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
-
SuiteSparse: In ubuntu you can install as $ sudo apt-get install libsuitesparse-dev (www.suitesparse.com)
-
Eigen: $ sudo apt-get install libeigen3-dev (most likely it is already installed if you have ROS)
-
g2o: Downloand and install from https://github.com/RainerKuemmerle/g2o.
-
Clone open_karto to your catkin_ws/src folder (https://github.com/ros-perception/open_karto)
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 and I will try to respond in a timely manner.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| message_filters | |
| nav_msgs | |
| open_karto | |
| rosconsole | |
| roscpp | |
| sensor_msgs | |
| geometry_msgs | |
| tf | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/build_map_w_params.launch
- launch/karto_slam.launch
- Provides a reasonable set of parameters for running Karto on a robot Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-
- config/move_base.xml
Messages
Services
Plugins
Recent questions tagged slam_karto_g2o at Robotics Stack Exchange
|
|
slam_karto_g2o package from active_graph_slam repokobuki_plugins base_local_planner clear_costmap_recovery costmap_2d dwa_local_planner global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid open_karto graph_d_exploration slam_karto_g2o |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | LGPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/julioplaced/active_graph_slam.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-04-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Saurav Agarwal
Authors
- Saurav Agarwal
slam_karto_g2o
A ROS Package for Pose Graph SLAM that uses open_karto for the front end and g2o for backend.
Acknowledgement
This package would not have been possible without the nav2d package by Sebastian Kasperski (https://github.com/skasperski/navigation_2d)
Notes
The optimization routine used is Levenberg-Marquadt provided by g2o, 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
-
SuiteSparse: In ubuntu you can install as $ sudo apt-get install libsuitesparse-dev (www.suitesparse.com)
-
Eigen: $ sudo apt-get install libeigen3-dev (most likely it is already installed if you have ROS)
-
g2o: Downloand and install from https://github.com/RainerKuemmerle/g2o.
-
Clone open_karto to your catkin_ws/src folder (https://github.com/ros-perception/open_karto)
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 and I will try to respond in a timely manner.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| message_filters | |
| nav_msgs | |
| open_karto | |
| rosconsole | |
| roscpp | |
| sensor_msgs | |
| geometry_msgs | |
| tf | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/build_map_w_params.launch
- launch/karto_slam.launch
- Provides a reasonable set of parameters for running Karto on a robot Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-
- config/move_base.xml
Messages
Services
Plugins
Recent questions tagged slam_karto_g2o at Robotics Stack Exchange
|
|
slam_karto_g2o package from active_graph_slam repokobuki_plugins base_local_planner clear_costmap_recovery costmap_2d dwa_local_planner global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid open_karto graph_d_exploration slam_karto_g2o |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | LGPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/julioplaced/active_graph_slam.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-04-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Saurav Agarwal
Authors
- Saurav Agarwal
slam_karto_g2o
A ROS Package for Pose Graph SLAM that uses open_karto for the front end and g2o for backend.
Acknowledgement
This package would not have been possible without the nav2d package by Sebastian Kasperski (https://github.com/skasperski/navigation_2d)
Notes
The optimization routine used is Levenberg-Marquadt provided by g2o, 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
-
SuiteSparse: In ubuntu you can install as $ sudo apt-get install libsuitesparse-dev (www.suitesparse.com)
-
Eigen: $ sudo apt-get install libeigen3-dev (most likely it is already installed if you have ROS)
-
g2o: Downloand and install from https://github.com/RainerKuemmerle/g2o.
-
Clone open_karto to your catkin_ws/src folder (https://github.com/ros-perception/open_karto)
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 and I will try to respond in a timely manner.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| message_filters | |
| nav_msgs | |
| open_karto | |
| rosconsole | |
| roscpp | |
| sensor_msgs | |
| geometry_msgs | |
| tf | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/build_map_w_params.launch
- launch/karto_slam.launch
- Provides a reasonable set of parameters for running Karto on a robot Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-
- config/move_base.xml
Messages
Services
Plugins
Recent questions tagged slam_karto_g2o at Robotics Stack Exchange
|
|
slam_karto_g2o package from active_graph_slam repokobuki_plugins base_local_planner clear_costmap_recovery costmap_2d dwa_local_planner global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid open_karto graph_d_exploration slam_karto_g2o |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | LGPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/julioplaced/active_graph_slam.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-04-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Saurav Agarwal
Authors
- Saurav Agarwal
slam_karto_g2o
A ROS Package for Pose Graph SLAM that uses open_karto for the front end and g2o for backend.
Acknowledgement
This package would not have been possible without the nav2d package by Sebastian Kasperski (https://github.com/skasperski/navigation_2d)
Notes
The optimization routine used is Levenberg-Marquadt provided by g2o, 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
-
SuiteSparse: In ubuntu you can install as $ sudo apt-get install libsuitesparse-dev (www.suitesparse.com)
-
Eigen: $ sudo apt-get install libeigen3-dev (most likely it is already installed if you have ROS)
-
g2o: Downloand and install from https://github.com/RainerKuemmerle/g2o.
-
Clone open_karto to your catkin_ws/src folder (https://github.com/ros-perception/open_karto)
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 and I will try to respond in a timely manner.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| message_filters | |
| nav_msgs | |
| open_karto | |
| rosconsole | |
| roscpp | |
| sensor_msgs | |
| geometry_msgs | |
| tf | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
- launch/build_map_w_params.launch
- launch/karto_slam.launch
- Provides a reasonable set of parameters for running Karto on a robot Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-
- config/move_base.xml