This is the source code for my tutorial on Robotics for developers. It implements a SLAM (Simultaneous Localization And Mapping) system using fiducial markers and IMU data. The code is mostly C++ with ROS and OpenCV, plus some Python (using pandas and plotly) for analyzing and plotting the results.
Each step of the tutorial roughly corresponds to one catkin package. You'll also need the gtsam_catkin package for non-linear optimization.
Refer to the blog linked above for more information on the project.