This repository is part of Nemesis Robot. A high level overview of this project can be found in this post https://antoan.github.io/Nemesis/
It covers the perception, simultaneous localization and mapping, and navigation components of the Nemesis Robot stack, with some very early stage autonomous navigation support with move_base, on ROS Melodic.
Lauch files for Intel D435i depth and T256 Visual Intertial tracking cameras used for the project are included in the nemesis_navigation package. rtabmap_ros is used for mapping with odometry input from the T265. Librealsense, the underlying sensors driver is setup via the Realsense distribution install (2) method.
- nemesis_navigation : perception & navigation.
- nemesis_viz : Visualization (rviz) configuration.
