Lidar based SLAM using Pose Graph Optimisation.
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python main.py- Listens for data from the robot and does SLAM -
python optimization.py- Takes an offline saved map and after 5 seconds starts optimizaing it. -
python tools/simulator.py- Drive a simualted robot around an envorment using your keyboard. Draw obstacles with your mouse, right click to delete -
python tools/viz.py- Vizualize lidar data coming from the robot -
python tools/save.py filename- Record odometery and lidar data from the robot -
python tools/replay.py filename- Play back a saved odometery and lidar file -
data/- Save playback and unoptimized graph data
using a lot of tools here will require you to be on the 10.0.0.X subnet as they use UDPComms to communitate with the robot and each other
for cvxopt seee cvxopt/cvxopt#78
wget http://faculty.cse.tamu.edu/davis/SuiteSparse/SuiteSparse-4.5.3.tar.gz
tar -xf SuiteSparse-4.5.3.tar.gz
export CVXOPT_SUITESPARSE_SRC_DIR=$(pwd)/SuiteSparse