Only released in EOL distros:

See mrpt_ro_slam on index.ros.org for more info including aything ROS 2 related.

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_ro_slam

Package Links

Dependencies (2)

Package Summary

mrpt_ro_slam

Author: Jose Luis
License: BSD
Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_ro_slam

Package Links

Dependencies (2)

Package Summary

mrpt_ro_slam

Author: Jose Luis
License: BSD
Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)

Contents

ROS API
Demos
1. Range-only (RO) SLAM with a set of radio beacons

ROS API

The sections below describe the API of this package for Range-Only (RO) SLAM, based on a mixture of Rao-Blackwellized Particle Filters (RBPF) and EKF for each particle's map of beacons. This packages publishes particles that represent the robot and the radio beacons into ROS.

Demos

Range-only (RO) SLAM with a set of radio beacons

Run:

roslaunch mrpt_ro_slam demo_ro.launch

to start:

a dataset (rawlog format) including RO and odometry observations,
the mrpt rbpf-slam with unknown beacon locations, and
RViz for visualization

NOTE: Module and documentation under development!