/slam_karto

A ROS Package for Pose Graph SLAM that uses open_karto for the front end and SPA for backend

Primary LanguageC++

ROS Wrapper and Node for open_karto

A ROS Package for Pose Graph SLAM that uses open_karto for the front end and SPA for backend.

How to use on Ubuntu?

1. This package has been tested well on Ubuntu 16.04 LTS, and the version of ROS is kinetic.

2. Install Eigen3
    $ sudo apt-get install libeigen3-dev
    
3. Install open_karto library
    $ cd catkin_ws/src/
    $ git clone https://github.com/ros-perception/open_karto
    $ cd..
    $ catkin_make
    
4. clone and catkin_make
    $ cd catkin_ws/src/
    $ git clone https://github.com/WENJIAN0629/slam_karto
    $ cd..
    $ catkin_make

Thanks

[1] https://github.com/ros-perception/open_karto

[2] https://github.com/ros-perception/slam_karto