New in Diamondback
Contents
Only released in EOL distros:
Package Summary
graph_mapping
- Author: Maintained by Bhaskara Marthi
- License: BSD
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/graph_mapping/branches/unstable-branch
Overview
The graph_mapping stack contains code for doing pose graph-based SLAM (simultaneous localization and mapping) for a single mobile robot.
Status
This is a released stack. The current development series is 0.3.x, released against ROS diamondback.
Usage
To use the laser slam algorithms, look at the launch files in the laser_slam package.
Organization
The pose_graph package contains the basic ros-independent pose graph data structures, as well as conversion to and from ROS messages.
The graph_slam package contains the parent class for SLAM ros nodes, that is independent of the particular sensor type, localization algorithm, etc.
The laser_slam package contains a particular instantiation of graph_slam for 2d laser data, using scan matching as the localization algorithm and constraint source.
The occupancy_grid_utils package contains various useful operations on the nav_msgs/OccupancyGrid type such as coordinate conversions and ray tracing.
The graph_mapping_utils package contains other generally used utilities.
The graph_mapping_msgs contains the message and service definitions that comprise the ROS interface of this stack.
