Graph Based SLAM

Requirement

• ros(kinetic)
• PCL1.8

Set Up

1. ROS Kinetic
2. PCL1.8
3. velodyne package

How to Use

Make directory for storing pointcloud etc.

$ roscd mapping
$ chmod a+x bash.sh
$ ./bash.sh

Save PointCloud and Odometry Data

$ roslaunch mapping data_save.launch

mapping/
    CMakeLists.txt
    src/
    include/
    package.xml
    README.md
    data/
        cloud/ <--- raw pointcloud data are saved here
        tf/    <--- odometry data are saverd here

Remove Obstacle

$ roslaunch mapping remove_obstacle.launch

obstacle removed pointcloud are saved at mapping/data/rm_obstacle.

Normal Estimation

In order to gicp we need to calcrate pointcloud's normal information. Use pcl function.

$ roslaunch mapping normal_estimation.launch

Generalised Iterative Closest Point

$ roslaunch mapping gicp.launch

Loop Closing

$ roslaunch mapping g2o.launch

Show Result

$roslaunch mapping show_map.launch