pgslam

introduction

pgslam (pose graph slam) is a slam package based on ROS. pgslam reads laser scans and odometry(tf) and publish occupancy map and pose(tf). pgslam dance icp algorithm to get pose as constrain and give these constrains to isam to construct a graph.

installation

install ros indigo

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-indigo-desktop-full

install isam

wget http://people.csail.mit.edu/kaess/isam/isam_v1_7.tgz
tar xzvf isam_V1_7.tgz
cd isam_V1_7
make
sudo make install

create catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/cattkin_ws/src/
catkin_init_workspace

clone code

git clone https://github.com/yukunlinykl/pgslam ~/catkin_ws/src/pgslam

compile

cd ~/catkin_ws && catkin_make

install

cd ~/catkin_ws && catkin_make install

run

source /opt/ros/indigo/setup.bash
source catkin_ws/install/setup.bash
roslaunch pgslam playbag.launch

JoestarK/pgslam