nkuwenjian / slam_karto_ceres

A ROS package for 2-D pose graph SLAM using open karto package for the front-end and Google's Ceres solver for the back-end

slam_karto_ceres

A ROS package for 2-D pose graph SLAM using open karto package for the front-end and Google's Ceres Solver for the back-end.

How to use

Please install Ceres Solver first following the official installation tutorial. The version of Ceres Solver we used is 2.1.0.

After that, please create and initialize a ROS workspace. We assume that your workspace is named catkin_ws. Then, run the following commands to clone and build open karto package:

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ros-perception/open_karto.git
$ cd ../
$ catkin_make -DCMAKE_BUILD_TYPE=Release

After the above preparation, clone and build this package:

$ cd ~/catkin_ws/src/
$ git clone https://github.com/nkuwenjian/slam_karto_ceres.git
$ cd ../
$ catkin_make -DCMAKE_BUILD_TYPE=Release

Finally, run the following commands to launch Karto SLAM:

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch slam_karto_ceres slam_karto_ceres.launch

Open a new terminal and play your rosbag:

$ rosbag play <rosbagfile> --clock

Remarks

The source code of the SLAM back-end in this package refers to the pose_graph_2d in Ceres Solver's examples. It is recommended to read this tutorial to learn more about the use of Ceres Solver.

slam_karto_ceres's Issues

cannot find "slam_karto_gt.cpp"

Hello:
I cannot find "slam_karto_gt.cpp" .Could you update your code?

scan_topic issue

Hi,

Your scan_topic in your launch file is not inserted as a variable in the slam_karto_ceres.cpp file. On the contrary, you have it as a fixed topic and it is misleading. It took me some-time to realize that I cannot use a different name for a scan topic by changing your .launch file.

I hope it helps to correct your code.

Best regards!