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slam_karto

Original Repo : https://github.com/ros-perception/slam_karto
Offline mapping node is added.

Nodes

slam_karto

Online SLAM node from original repository.

slam_karto_offline

Offline SLAM node.

1. Published Topics

map (nav_msgs/OccupancyGrid)
Map data is published only when "publish_map" service is called.

map_metadata (nav_msgs/MapMetaData)

visualization_marker_array (visualization_msgs/MarkerArray)
This is also published only when "publish_map" service is called.

2. Services

The following services are added.

publish_map (std_srvs/Empty)
Request to publish map data.

3. Parameters

The following parameters are added.

~bag_filename (string, default: "")
File path of rosbag file.

~scan_topic (string, default: "")
Topic name of laser scan data.

~start_time_sec (double, default: 0.0)
Start mapping from this time. [sec]

~laser_range_threshold (double, default: 80.0)
Threshold of the laser scan ranges. [m]

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ROS Wrapper and Node for OpenKarto

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  • C++ 98.6%
  • CMake 1.4%