Only released in EOL distros:
mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_ro_slam
Package Summary
Documented
mrpt_ro_slam
- Author: Jose Luis
- License: BSD
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_ro_slam
Package Summary
Documented
mrpt_ro_slam
- Author: Jose Luis
- License: BSD
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
ROS API
The sections below describe the API of this package for Range-Only (RO) SLAM, based on a mixture of Rao-Blackwellized Particle Filters (RBPF) and EKF for each particle's map of beacons. This packages publishes particles that represent the robot and the radio beacons into ROS.
Demos
Range-only (RO) SLAM with a set of radio beacons
Run:
roslaunch mrpt_ro_slam demo_ro.launch
to start:
- a dataset (rawlog format) including RO and odometry observations,
- the mrpt rbpf-slam with unknown beacon locations, and
- RViz for visualization
NOTE: Module and documentation under development!