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SRRG2-LASER-SLAM-2D

This repository contains a single Catkin package:

  1. srrg2_laser_slam_2d: a 2D LiDAR-based SLAM pipeline; supports multiple rangefinders and wheel odometry (at the moment).

This package lives inside the srrg2 multiverse. It builds on top of our multi-cue SLAM architecture reported in srrg2_slam_interfaces.

To know how to build and to use our pipeline, please refer to the package readme.

Publications

To have a more detailed overview on this architecture, you can read our new preprint. If you use our code, please cite us in your work.

@misc{colosi2020plugandplay,
    title={Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use},
    author={Mirco Colosi and Irvin Aloise and Tiziano Guadagnino and Dominik Schlegel and Bartolomeo Della Corte and Kai O. Arras and Giorgio Grisetti},
    year={2020},
    eprint={2003.00754},
    archivePrefix={arXiv},
    primaryClass={cs.RO}
}

Contributors

  • Mirco Colosi
  • Irvin Aloise
  • Dominik Schlegel
  • Giorgio Grisetti
  • Bartolomeo Della Corte
  • Tiziano Guadagnino

License

BSD 3.0