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Package Summary

ROS package for the CRSM SLAM (Critical Rays Scan Match Simultaneous Localization And Mapping)

Package Summary

ROS package for the CRSM SLAM (Critical Rays Scan Match Simultaneous Localization And Mapping)

free hit counters

General description

CRSM SLAM stands for Critical Rays Scan Match SLAM (Simultaneous Localization And Mapping). Its main characteristics follow:

The full algorithmic description can be found in the following paper:

http://link.springer.com/article/10.1007/s10846-012-9811-5#!

CRSM SLAM does not have a close loop behaviour, but it gives very good results in featured spaces.

Finally, it was used in the PANDORA autonomous vehicle that takes part in the world-wide robotic competition RoboCup-RoboRescue.

Installation

CRSM SLAM is provided through the official ROS repositories. To install execute the following command :

sudo apt-get install ros-$ROS_DISTRO-crsm-slam

You can also manually set it up:

cd <your_catkin_ws>/src
git clone https://github.com/etsardou/crsm-slam-ros-pkg.git
cd ../
catkin_make

Screenshots/Multimedia

The following environment was created in the Gazebo simulator :

RoboCup-RoboRescue arena

One video that demonstrates CRSM SLAM in the above environment is the following :

The final map produced by CRSM SLAM is the following :

CRSM SLAM result

Package Input / Output

There is only one node spawn whose name is crsm_slam_node.

CRSM needs as input :

On the other hand, CRSM outputs :

Parameters

CRSM is fully parameterizable by changing the parameter file "crsm_slam/config/crsm_slam/crsm_slam_parameters.yaml". The meaning of each parameter, as well as the expected effect on the algorithm follow:

How to run CRSM SLAM

CRSM SLAM can be executed either with rosrun or by roslaunch.

The package includes two launchers, one for a simulated laser (crsm_slam_simulation.launch) and one for a real one (crsm_slam_real.launch), which "listens" to a hokuyo_node.


2019-07-20 12:37