mounb / slam_karto

ROS Wrapper for Karto SLAM with SPA solver

ROS Wrapper for Karto SLAM with SPA solver

A ROS package for 2-D laser SLAM that uses open-karto package for the front-end and SPA solver for the back-end.

How to use on Ubuntu?

1. This package has been tested well in Ubuntu 16.04 with ROS Kinetic.

2. Install Eigen3 and CXSparse 
    $ sudo apt-get install libeigen3-dev libsuitesparse-dev

3. Clone and build open-karto package
    $ cd ~/catkin_ws/src/
    $ git clone https://github.com/ros-perception/open_karto.git
    $ cd ..
    $ catkin_make

4. Clone and build this package
    $ cd ~/catkin_ws/src/
    $ git clone https://github.com/nkuwenjian/slam_karto.git
    $ cd ..
    $ catkin_make

5. Run offline rosbag
    $ source ~/catkin_ws/devel/setup.bash
    $ roslaunch slam_karto karto_slam.launch
    $ rosbag play <rosbagfile> --clock

Topics

Subscribed topics

• /scan (sensor_msgs/LaserScan)
• /tf (tf2_msgs/TFMessage)

Published topics

• /map (nav_msgs/OccupancyGrid)
• /map_metadata (nav_msgs/MapMetaData)
• /tf (tf2_msgs/TFMessage)
• /visualization_marker_array (visualization_msgs/MarkerArray)

Thanks

[1] https://github.com/ros-perception/slam_karto