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uSlam

Lidar based SLAM using Pose Graph Optimisation.

Example Example

Tools

  • 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

Notes

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

install

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