This stack provides a real-time 2D and 3D ICP-based SLAM system that can fit a large variety of robots and application scenarios, without any code change or recompilation. You are most probably interest in starting by having a look at the mapper package.


Ubuntu Binary

With ROS fuerte or groovy installed, just type:

sudo apt-get install ros-$ROS_DISTRO-ethzasl-icp-mapping


Make sure you have git installed:

sudo apt-get install git-core

Get the stack:

git clone --recursive git://github.com/ethz-asl/ethzasl_icp_mapping.git

Make sure that it is included in your ROS_PACKAGE_PATH:

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:`pwd`/ethzasl_icp_mapping

Get the dependencies:

sudo apt-get install ros-$ROS_DISTRO-map-msgs
sudo apt-get install libargtable2-dev
rosdep update
rosdep install ethzasl_icp_mapping

Compile the stack:

rosmake ethzasl_icp_mapping

To apply this stack on a turtlebot


To build on the jade version of ros

1. Download the feature/catkin_version version of ethzasl_icp_mapping from https://github.com/ethz-asl/ethzasl_icp_mapping to your catkin workspace

2. Change the references to depends(eigen_catkin) and depends(yaml_catkin) in package.xml to build_depends(cmake_modules)

3. Ensure that the eigen path is included properly. You can also directly include the eigen directories if you know then in the CMakeLists.txt. For example include_directories(/usr/include/eigen3)

4. Run the catkin_make in the catkin worskpace folder


Report a Bug

Please report bugs and request features using the github page.

Wiki: ethzasl_icp_mapping (last edited 2016-05-20 19:17:31 by Harsha Kikkeri)