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RoboRTS-Edu-SLAM

This project is an education version of RoboRTS-SLAM (2d-version).

Feature

Front-End: correlative scan matching and optimization based scan matching.

Back-End: Graph optimazation wrappered from SLAM-Karto.

Build and Run

mkdir -p roborts_edu_ws/src
cd roborts_edu_ws/src
git clone https://github.com/SUSTech-Robotics/RoboRTS-Edu.git
cd ..

sudo rosdep init
#The command ‘sudo rosdep init’ will print an error if you have already executed it since installing ROS. 
#This error can be ignored.

rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make

Tutorial

For more information about RoboMaster AI Robot platform and RoboRTS framework, please refer to RoboRTS-Edu Tutorial

Acknowledgements

  • slam_karto
  • Olson, Edwin B. "Real-time correlative scan matching." 2009 IEEE International Conference on Robotics and Automation. IEEE, 2009.
  • Konolige, Kurt, et al. "Efficient sparse pose adjustment for 2D mapping." 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2010.

Developers

This project is developed by @KevinLADLee and fengyu in RoboMaster.

Special thanks for all RoboRTS project members:

  • Noah Guo
  • Charles Yang
  • Dunkem Wen

Copyright and License

RoboRTS-SLAM is provided under the GPL-v3.