ros_graph_slam

A ros graph slam backend using gtsam python.

ROS implementation of graph slam using gtsam

This is a ros node to wrap the gtsam library into a ros node.

This node can be used in combination with a loop closure node. To solve the loop closure slam problem.

Installation

First clone it to your catkin_ws/src folder.

cd ~/catkin_ws/src
git clone git@github.com:penguinmenac3/ros_graph_slam.git graph_slam_backend

Then install and build the dependencies.

cd graph_slam_backend
sudo ./install_deps.sh

Finally build your catkin ws.

cd ~/catkin_ws
catkin_make

Have fun.

Usage

There is a launchfile provided which launches the scanmatcher and the graph_slam_backend.

roslaunch graph_slam_backend live.launch

You can see the nodegraph below.