mrsp / slam_stack

A ROS stack for g2o-based slam

slam_stack

A ROS stack for g2o-based slam with Kinect Fusion and TSDF Interpolation

Install

• cd your_ros_ws/src
• git clone --recursive https://github.com/mrsp/slam_stack.git
• cd ..
• catkin_make -DCMAKE_BUILD_TYPE=Release

Run

• roslaunch multi_voxels multi_voxels_kfp.launch
• roslaunch key_frame_publisher key_frame_publisher_xtion.launch
• roslaunch g2o_slam g2o_slam_kfp_xtion.launch
• rosbag play vipgpu.bag