A specific implementation of the algorithm in the graph_slam package that uses 2d laser data and scan matching.
- Author: Bhaskara Marthi
- License: BSD
- Repository: ros-pkg
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/graph_mapping/tags/graph_mapping-0.3.0
This package specializes graph_slam for SLAM using laser scans and scan matching. It contains code for:
- Overlaying laser scans into a grid
- Localization using scan matching and odometry
- Pose graph constraint generation using scan matching and odometry
It also contains several launch files for laser slam on a pr2 robot and in the stage simulator.