Saurav Agarwal's profile - activity

My high-level recommendation: Trust wheel odometry for linear velocity, trust monocular odometry for angular velocity,

My high-level recommendation: Trust wheel odometry for linear velocity, trust monocular odometry for angular velocity,

You can use the costmap_2d ros package which gives you collision checking ability. The costmap_2d package provides an AP

You can use the costmap_2d ros package which gives you collision checking ability. The costmap_2d package provides an AP

I'm implementing relative pose graph SLAM with ROS Kinetic + Gazebo. I can use the laser_scan_matcher node generate pose to pose (relative pose) odometry information (it uses canonical scan matcher to compute odometry from successive laser scans). Is there an open source library or a ROS package that allows passing in successive scans and odometry to output loop closure constraints between poses? Once loop closure constraints have been calculated one can use solvers like g2o, GTSAM or LAGO to solve for the robot trajectory, following which the laser scans can be superimposed on the aligned poses to output a map.

Try slam_karto_g2o (it uses open_karto for the front end and g2o for the backend).

You can use slam_karto_g2o. It uses open_karto for the front-end and g2o for the backend. Other options are slam_karto a

You can use slam_karto_g2o. It uses open_karto for the front-end and g2o for the backend. Other options are slam_karto a

Use slam_karto_g2o. It uses open_karto for the front-end and g2o for the backend.

Use slam_karto_g2o (https://github.com/sauravag/slam_karto_g2o). It uses open_karto for the front-end and g2o for the ba

Of course, open karto is only giving us a front-end, the back-end is sba. Just to clarify, when I use vanilla slam_karto

It appears that nav2d is more robust in solving loop closure than the vanilla slam_karto package which (uses sparse bund

It appears that nav2d is more robust in solving loop closure than the vanilla slam_karto package which (uses sparse bund

Update: Full progress on pose-graph SLAM with ROS will be posted on my blog here. I'm going for the offline pose-graph

For the benefit of the community, this discussion is ongoing in http://answers.ros.org/question/265196/how-to-detect-loo

How to detect loop closure and do relative pose graph SLAM? I'm implementing relative pose graph SLAM with ROS Kinetic +

How to detect loop closure and do relative pose graph SLAM? I'm implementing relative pose graph SLAM with ROS Kinetic +

Update: Full progress on pose-graph SLAM with ROS will be posted on my blog here. I'm going for the offline pose-graph

Thanks for sharing Sebastian, I wasn't aware that nav2d used open karto. Nav2d will be very helpful, will look into it :

I'm going for the offline pose-graph SLAM approach where I can run the robot around some environment, gather the data, b

I'm going for the offline pose-graph SLAM approach where I can run the robot around some environment, gather the data, b

I'm going for the offline pose-graph SLAM approach where I can run the robot around some environment, gather the data, b

How to detect loop closure and do relative pose graph SLAM? I'm implementing relative pose graph SLAM with ROS Kinetic +

How to detect loop closure and do relative pose graph SLAM? I'm implementing relative pose graph SLAM with ROS Kinetic +

How to detect loop closure and do relative pose graph SLAM in ROS? I'm implementing relative pose graph SLAM with ROS Ki

How to detect loop closure for relative pose graph SLAM? I'm implementing relative pose graph SLAM with ROS Kinetic + Ga

How to detect loop closure for relative pose graph SLAM? I'm implementing relative pose graph SLAM with ROS Kinetic + Ga

I'm going for the offline approach where I can run the robot around, batch optimize the graph and generate a map which c

I'm going for the offline approach where I can run the robot around, batch optimize the graph and generate a map which c

Let's collaborate on this if possible. The ROS community could benefit a lot from this knowledge.

Thanks for the feedback! I'm currently looking into open_karto to see if its mapping module / loop closing could be used

Thanks for the feedback! I'm currently looking into open_karto to see if its mapping module / loop closing could be used

How to detect loop closure for relative pose graph SLAM? I'm implementing relative pose graph SLAM with ROS Kinetic + Ga

This might help http://answers.ros.org/question/246440/husky-perfect-localization-gazebo-positioning-system/?comment=247