SLAM-visualizer

Rviz2 visulizer from input file TODO RENAME TO SLAM-VISUALIZER.

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Data

• Example files are stored in data folder
• Folder contains toy data
• After updating data you have to rebuild

Points

• points.csv contains all landmarks
• ID of the landmark is his line number (starting from zero)
• x.x x.x x.x numbers separated by space represents 3D coordinates

Positions

• positions.csv contains all visited positions
• ID of the position is his line number (starting from zero)
• x.x x.x x.x numbers separated by space represents 3D coordinates

Seen

• x y two integers separated by space represents ID of the landmark (y) visible from the position with ID (x)

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Rviz2 settings

• world frame
• visualization namespace
• viz topic name

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Scripts

• . scripts/build.sh build repo
• . scripts/clean.sh clean build files
• . scripts/run.sh run visualization