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How can I use iSAM in ROS

asked 2015-11-03 17:42:35 -0600

pinocchio gravatar image


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.

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answered 2016-04-13 12:13:40 -0600

DanROS gravatar image


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.

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answered 2016-04-13 12:23:51 -0600

al-dev gravatar image

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..

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The is to the more details (here) looks like broken or forbidden? Would you please provide a working link. Thanks

lsahawneh gravatar image lsahawneh  ( 2017-04-27 11:48:50 -0600 )edit

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Asked: 2015-11-03 17:42:35 -0600

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Last updated: Apr 13 '16