claydergc / GraphSLAM

Disclaimer

This is a modified implementation of [Franco Curotto's GraphSLAM implementation using g2o] (https://github.com/francocurotto/GraphSLAM). In this version a robot model modified from [here] (https://github.com/SD-Robot-Vision/PioneerModel) which runs with Gazebo was added along with an animation that works with Gnuplot.

Requirements

• CMake (https://cmake.org/)
• Eigen3 (http://eigen.tuxfamily.org/index.php?title=Main_Page)
• suitesparse (http://faculty.cse.tamu.edu/davis/suitesparse.html)
• g2o (https://github.com/RainerKuemmerle/g2o)
• Gnuplot (http://www.gnuplot.info/)

This project was developed in linux platform, with C++11 and Python 2.7

Modified Files:

• src/python-helpers/.
• src/graphSLAM/my_slam.cpp
• src/graphSLAM/slam_functs.cpp

Compilation

To compile the C++ scripts simply go to the src/graphSLAM folder and do:

• mkdir build
• cd build
• cmake ..
• make

Notice that you must have g2o installed in your machine.

Execution

• roslaunch p3dx_gazebo gazebo.launch
• run any feature detector
• rosrun clay_robot stage_controller.py
• ./GraphSLAM/src/python-helpers/gazebo-sim/my-slam.py