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Package Summary
Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.
- Maintainer status: maintained
- Maintainer: Nikos Koukis <nickkouk AT gmail DOT com>
- Author: Nikos Koukis <nickkouk AT gmail DOT com>
- License: BSD
- External website: http://www.mrpt.org/
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.
- Maintainer status: maintained
- Maintainer: Nikos Koukis <nickkouk AT gmail DOT com>
- Author: Nikos Koukis <nickkouk AT gmail DOT com>
- License: BSD
- External website: http://www.mrpt.org/
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.
- Maintainer status: maintained
- Maintainer: Nikos Koukis <nickkouk AT gmail DOT com>
- Author: Nikos Koukis <nickkouk AT gmail DOT com>
- License: BSD
- External website: http://www.mrpt.org/
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.
- Maintainer status: maintained
- Maintainer: Nikos Koukis <nickkouk AT gmail DOT com>
- Author: Nikos Koukis <nickkouk AT gmail DOT com>
- License: BSD
- External website: http://www.mrpt.org/
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.
- Maintainer status: maintained
- Maintainer: Nikos Koukis <nickkouk AT gmail DOT com>
- Author: Nikos Koukis <nickkouk AT gmail DOT com>
- License: BSD
- External website: http://www.mrpt.org/
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: ros1)
Contents
Description
mrpt_graphslam_2d provides support for running either single-robot or multi-robot pose-only graphSLAM, using simulated data (e.g. from Gazebo) or in a real-time setup. Algorithm practically utilises the mrpt-graphslam library to execute graphSLAM, using the ROS communication mechanisms and the multimaster_fkie stack.
Usage Information
Information on how to use the algorithm for either simulation or real-time usage is provided in the Appendix of this document
Running real-time graphSLAM
Additional support for running real-time graphSLAM with either one or with multiple agents is provided in the csl_hw_setup ROS package. The latter provides launchfiles and generic scripts for setting up common tasks in real robot agents (setting up sensor data acquisition processes, processes for starting robot motors etc.) Package is specialized for the robots and equipment of the Control Systems Lab of the National Technical University of Athens but can be easily extended to suppport different platforms, sensors etc.
Running multi-robot simulations in Gazebo
Additional support for running simulations in Gazebo is provided in the csl_robots_gazebo ROS package
Demos
Demo videos
Following is a list of demo videos that showcase the algorithm capabilities both in simulations as well as real-time experiments:
Single-robot MRPT graphslam-engine
Multi-robot simulation in Gazebo
Multi-robot real-time experiment
See here
Running provided demos
Package also contains sample datasets, along with the corresponding roslaunch files for easy execution, for both the single- and multi-robot SLAM cases. For more on this see the package README.
API Documentation
Use the rosdoc_lite tool to generate the complete API of this package:
Relevant Links
* MRPT graphslam-engine application
* Multi-robot graphSLAM diploma thesis PDF