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Hi,
I plan to apply iSAM algorithm for location by using an AMP2.5 with a GPS connected. Hence the inputs are angular velocities and linear accelerates from IMU, and positions from GPS.
However, I do not know how to include the GTSAM package in my ROS code, neither do I know how to compile and execute.
Could anyone give me some hints? Many thanks.
HI,
In my case, I included iSAM library in my ROS package.
I created a new package, with catkin_creat_package, and add the following lines to the CMake file
add_executable(my_node src/my_node.cpp )
target_link_libraries(my_node ${catkin_LIBRARIES} isam cholmod)
add_dependencies(my_node my_package)
I installed iSAM library on /usr/include.
The omnimapper package provides a modular SLAM framework built around iSAM2 and has a ROS wrapper. More details here. You might want to check if the dependencies are reasonable if you are working on a small platform though..
Asked: 2015-11-03 17:42:35 -0600
Seen: 953 times
Last updated: Apr 13 '16
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