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slam MASTER README

SLAM Implementation for 6.834 Grand Challenge 2017

Read this README before reading the README in the slam_backend repo.

Setup

This project has the following external dependencies: - AprilTags - Octomaps - GTSAM/iSAM2

Installing AprilTags - Clone from https://github.com/RIVeR-Lab/apriltags_ros into catkin_ws/src/ - cd into catkin_ws - catkin_make

Installing Octomap - sudo apt-get install ros-kinetic-octomap-server - (may need to install ros-kinetic-octomap and ros-kinetic-octomap-mapping and ros-kinetic-octomap-msgs)

Installing GTSAM/iSAM2 - see slam_backend README

NOTE: Before launching SLAM, reset odom transform to the current robot location (Eric can do this). Make sure the robot is not moving

Launching everything - roslaunch slam slam_master.launch

RViz Setup - Open the config from slam/rviz/odomSLAM.rviz

Debugging

Make sure your environment variables are set correctly:

export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>source~/catkin_ws/devel/setup.bash

Guide to running from a ROS Bag

run roscore -- roscore

run apriltags -- Make sure to copy run_apriltags_detection.launch from the slam/launch folder into the apriltags_ros/apriltags_ros/launch folder -- in slam folder roslaunch apriltags_ros run_apriltag_detection.launch

run octomap -- Make sure to copy antonio_octomap.launch according to README in the slam repo -- in slam folder roslaunch octomap_server antonio_octomap.launch

roslaunch slam -- roslaunch slam slam.launch

run the bag -- rosparam set use_sim_time true -- rosbag play --clock <bag_file>

Some other notes

Useful commands

export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash
env | grep ROS
rosrun rqt_graph
rviz
rosrun rf view_frames

Outdated Notes:

Occupancy grid:

We're using octomap_server to read from a cloud_in PointCloud2, which comes from the laserToPointCloud2Converter node (runLaserGeometry.py python file). To run the octomap server, you execute

roslaunch octomap_server antonio_octomap.launch

******* the file antonio_octomap.launch needs to be moved to the directory: /opt/ros/indigo/share/octomap_server/launch (you can get here with roscd octomap_server)

laserScan to pointCloud2:

Handled by the python script runLaserGeometry.py

Resetting the map

To do that, import the Empty service and create an object with:

fromstd_srvs.srvimportEmptyresetter=rospy.ServiceProxy('/octomap_server/reset', Empty)

About

SLAM Implementation for 6.834 Grand Challenge 2017

Topics

apriltagslocalizationmappingoctomappoint-cloudroboticsslam

Resources

Readme
Activity

Stars

6 stars

Watchers

4 watching

Forks

4 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

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Repository files navigation
slam MASTER README
SLAM Implementation for 6.834 Grand Challenge 2017
Read this README before reading the README in the slam_backend repo.
Setup
This project has the following external dependencies:
- AprilTags
- Octomaps
- GTSAM/iSAM2
Installing AprilTags
- Clone from https://github.com/RIVeR-Lab/apriltags_ros into catkin_ws/src/
- cd into catkin_ws
- catkin_make
Installing Octomap
- sudo apt-get install ros-kinetic-octomap-server
- (may need to install ros-kinetic-octomap and ros-kinetic-octomap-mapping and ros-kinetic-octomap-msgs)
Installing GTSAM/iSAM2
- see slam_backend README
NOTE: Before launching SLAM, reset odom transform to the current robot location (Eric can do this). Make sure the robot is not moving
Launching everything
- roslaunch slam slam_master.launch
RViz Setup
- Open the config from slam/rviz/odomSLAM.rviz
Debugging
Make sure your environment variables are set correctly:
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>source~/catkin_ws/devel/setup.bash
Guide to running from a ROS Bag
run roscore
-- roscore
run apriltags
-- Make sure to copy run_apriltags_detection.launch from the slam/launch folder into the apriltags_ros/apriltags_ros/launch folder
-- in slam folder roslaunch apriltags_ros run_apriltag_detection.launch
run octomap
-- Make sure to copy antonio_octomap.launch according to README in the slam repo
-- in slam folder roslaunch octomap_server antonio_octomap.launch
roslaunch slam
-- roslaunch slam slam.launch
run the bag
-- rosparam set use_sim_time true
-- rosbag play --clock <bag_file>
Some other notes
Useful commands
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash
env | grep ROS
rosrun rqt_graph
rviz
rosrun rf view_frames

Outdated Notes:
Occupancy grid:
We're using octomap_server to read from a cloud_in PointCloud2, which comes from the laserToPointCloud2Converter node (runLaserGeometry.py python file). To run the octomap server, you execute
roslaunch octomap_server antonio_octomap.launch
******* the file antonio_octomap.launch needs to be moved to the directory:
/opt/ros/indigo/share/octomap_server/launch (you can get here with roscd octomap_server)
laserScan to pointCloud2:
Handled by the python script runLaserGeometry.py
Resetting the map
To do that, import the Empty service and create an object with:
fromstd_srvs.srvimportEmptyresetter=rospy.ServiceProxy('/octomap_server/reset', Empty)
About
SLAM Implementation for 6.834 Grand Challenge 2017
Topics
apriltagslocalizationmappingoctomappoint-cloudroboticsslam
Resources
Readme
Activity
Stars
6 stars
Watchers
4 watching
Forks
4 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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Repository files navigation
slam MASTER README
SLAM Implementation for 6.834 Grand Challenge 2017
Read this README before reading the README in the slam_backend repo.
Setup
This project has the following external dependencies:
- AprilTags
- Octomaps
- GTSAM/iSAM2
Installing AprilTags
- Clone from https://github.com/RIVeR-Lab/apriltags_ros into catkin_ws/src/
- cd into catkin_ws
- catkin_make
Installing Octomap
- sudo apt-get install ros-kinetic-octomap-server
- (may need to install ros-kinetic-octomap and ros-kinetic-octomap-mapping and ros-kinetic-octomap-msgs)
Installing GTSAM/iSAM2
- see slam_backend README
NOTE: Before launching SLAM, reset odom transform to the current robot location (Eric can do this). Make sure the robot is not moving
Launching everything
- roslaunch slam slam_master.launch
RViz Setup
- Open the config from slam/rviz/odomSLAM.rviz
Debugging
Make sure your environment variables are set correctly:
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>source~/catkin_ws/devel/setup.bash
Guide to running from a ROS Bag
run roscore
-- roscore
run apriltags
-- Make sure to copy run_apriltags_detection.launch from the slam/launch folder into the apriltags_ros/apriltags_ros/launch folder
-- in slam folder roslaunch apriltags_ros run_apriltag_detection.launch
run octomap
-- Make sure to copy antonio_octomap.launch according to README in the slam repo
-- in slam folder roslaunch octomap_server antonio_octomap.launch
roslaunch slam
-- roslaunch slam slam.launch
run the bag
-- rosparam set use_sim_time true
-- rosbag play --clock <bag_file>
Some other notes
Useful commands
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash
env | grep ROS
rosrun rqt_graph
rviz
rosrun rf view_frames

Outdated Notes:
Occupancy grid:
We're using octomap_server to read from a cloud_in PointCloud2, which comes from the laserToPointCloud2Converter node (runLaserGeometry.py python file). To run the octomap server, you execute
roslaunch octomap_server antonio_octomap.launch
******* the file antonio_octomap.launch needs to be moved to the directory:
/opt/ros/indigo/share/octomap_server/launch (you can get here with roscd octomap_server)
laserScan to pointCloud2:
Handled by the python script runLaserGeometry.py
Resetting the map
To do that, import the Empty service and create an object with:
fromstd_srvs.srvimportEmptyresetter=rospy.ServiceProxy('/octomap_server/reset', Empty)
About
SLAM Implementation for 6.834 Grand Challenge 2017
Topics
apriltagslocalizationmappingoctomappoint-cloudroboticsslam
Resources
Readme
Activity
Stars
6 stars
Watchers
4 watching
Forks
4 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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Repository files navigation
slam MASTER README
SLAM Implementation for 6.834 Grand Challenge 2017
Read this README before reading the README in the slam_backend repo.
Setup
This project has the following external dependencies:
- AprilTags
- Octomaps
- GTSAM/iSAM2
Installing AprilTags
- Clone from https://github.com/RIVeR-Lab/apriltags_ros into catkin_ws/src/
- cd into catkin_ws
- catkin_make
Installing Octomap
- sudo apt-get install ros-kinetic-octomap-server
- (may need to install ros-kinetic-octomap and ros-kinetic-octomap-mapping and ros-kinetic-octomap-msgs)
Installing GTSAM/iSAM2
- see slam_backend README
NOTE: Before launching SLAM, reset odom transform to the current robot location (Eric can do this). Make sure the robot is not moving
Launching everything
- roslaunch slam slam_master.launch
RViz Setup
- Open the config from slam/rviz/odomSLAM.rviz
Debugging
Make sure your environment variables are set correctly:
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>source~/catkin_ws/devel/setup.bash
Guide to running from a ROS Bag
run roscore
-- roscore
run apriltags
-- Make sure to copy run_apriltags_detection.launch from the slam/launch folder into the apriltags_ros/apriltags_ros/launch folder
-- in slam folder roslaunch apriltags_ros run_apriltag_detection.launch
run octomap
-- Make sure to copy antonio_octomap.launch according to README in the slam repo
-- in slam folder roslaunch octomap_server antonio_octomap.launch
roslaunch slam
-- roslaunch slam slam.launch
run the bag
-- rosparam set use_sim_time true
-- rosbag play --clock <bag_file>
Some other notes
Useful commands
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash
env | grep ROS
rosrun rqt_graph
rviz
rosrun rf view_frames

Outdated Notes:
Occupancy grid:
We're using octomap_server to read from a cloud_in PointCloud2, which comes from the laserToPointCloud2Converter node (runLaserGeometry.py python file). To run the octomap server, you execute
roslaunch octomap_server antonio_octomap.launch
******* the file antonio_octomap.launch needs to be moved to the directory:
/opt/ros/indigo/share/octomap_server/launch (you can get here with roscd octomap_server)
laserScan to pointCloud2:
Handled by the python script runLaserGeometry.py
Resetting the map
To do that, import the Empty service and create an object with:
fromstd_srvs.srvimportEmptyresetter=rospy.ServiceProxy('/octomap_server/reset', Empty)
About
SLAM Implementation for 6.834 Grand Challenge 2017
Topics
apriltagslocalizationmappingoctomappoint-cloudroboticsslam
Resources
Readme
Activity
Stars
6 stars
Watchers
4 watching
Forks
4 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

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Repository files navigation
slam MASTER README
SLAM Implementation for 6.834 Grand Challenge 2017
Read this README before reading the README in the slam_backend repo.
Setup
This project has the following external dependencies:
- AprilTags
- Octomaps
- GTSAM/iSAM2
Installing AprilTags
- Clone from https://github.com/RIVeR-Lab/apriltags_ros into catkin_ws/src/
- cd into catkin_ws
- catkin_make
Installing Octomap
- sudo apt-get install ros-kinetic-octomap-server
- (may need to install ros-kinetic-octomap and ros-kinetic-octomap-mapping and ros-kinetic-octomap-msgs)
Installing GTSAM/iSAM2
- see slam_backend README
NOTE: Before launching SLAM, reset odom transform to the current robot location (Eric can do this). Make sure the robot is not moving
Launching everything
- roslaunch slam slam_master.launch
RViz Setup
- Open the config from slam/rviz/odomSLAM.rviz
Debugging
Make sure your environment variables are set correctly:
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>source~/catkin_ws/devel/setup.bash
Guide to running from a ROS Bag
run roscore
-- roscore
run apriltags
-- Make sure to copy run_apriltags_detection.launch from the slam/launch folder into the apriltags_ros/apriltags_ros/launch folder
-- in slam folder roslaunch apriltags_ros run_apriltag_detection.launch
run octomap
-- Make sure to copy antonio_octomap.launch according to README in the slam repo
-- in slam folder roslaunch octomap_server antonio_octomap.launch
roslaunch slam
-- roslaunch slam slam.launch
run the bag
-- rosparam set use_sim_time true
-- rosbag play --clock <bag_file>
Some other notes
Useful commands
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash
env | grep ROS
rosrun rqt_graph
rviz
rosrun rf view_frames

Outdated Notes:
Occupancy grid:
We're using octomap_server to read from a cloud_in PointCloud2, which comes from the laserToPointCloud2Converter node (runLaserGeometry.py python file). To run the octomap server, you execute
roslaunch octomap_server antonio_octomap.launch
******* the file antonio_octomap.launch needs to be moved to the directory:
/opt/ros/indigo/share/octomap_server/launch (you can get here with roscd octomap_server)
laserScan to pointCloud2:
Handled by the python script runLaserGeometry.py
Resetting the map
To do that, import the Empty service and create an object with:
fromstd_srvs.srvimportEmptyresetter=rospy.ServiceProxy('/octomap_server/reset', Empty)
About
SLAM Implementation for 6.834 Grand Challenge 2017
Topics
apriltagslocalizationmappingoctomappoint-cloudroboticsslam
Resources
Readme
Activity
Stars
6 stars
Watchers
4 watching
Forks
4 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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package.xml
Repository files navigation
slam MASTER README
SLAM Implementation for 6.834 Grand Challenge 2017
Read this README before reading the README in the slam_backend repo.
Setup
This project has the following external dependencies:
- AprilTags
- Octomaps
- GTSAM/iSAM2
Installing AprilTags
- Clone from https://github.com/RIVeR-Lab/apriltags_ros into catkin_ws/src/
- cd into catkin_ws
- catkin_make
Installing Octomap
- sudo apt-get install ros-kinetic-octomap-server
- (may need to install ros-kinetic-octomap and ros-kinetic-octomap-mapping and ros-kinetic-octomap-msgs)
Installing GTSAM/iSAM2
- see slam_backend README
NOTE: Before launching SLAM, reset odom transform to the current robot location (Eric can do this). Make sure the robot is not moving
Launching everything
- roslaunch slam slam_master.launch
RViz Setup
- Open the config from slam/rviz/odomSLAM.rviz
Debugging
Make sure your environment variables are set correctly:
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>source~/catkin_ws/devel/setup.bash
Guide to running from a ROS Bag
run roscore
-- roscore
run apriltags
-- Make sure to copy run_apriltags_detection.launch from the slam/launch folder into the apriltags_ros/apriltags_ros/launch folder
-- in slam folder roslaunch apriltags_ros run_apriltag_detection.launch
run octomap
-- Make sure to copy antonio_octomap.launch according to README in the slam repo
-- in slam folder roslaunch octomap_server antonio_octomap.launch
roslaunch slam
-- roslaunch slam slam.launch
run the bag
-- rosparam set use_sim_time true
-- rosbag play --clock <bag_file>
Some other notes
Useful commands
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash
env | grep ROS
rosrun rqt_graph
rviz
rosrun rf view_frames

Outdated Notes:
Occupancy grid:
We're using octomap_server to read from a cloud_in PointCloud2, which comes from the laserToPointCloud2Converter node (runLaserGeometry.py python file). To run the octomap server, you execute
roslaunch octomap_server antonio_octomap.launch
******* the file antonio_octomap.launch needs to be moved to the directory:
/opt/ros/indigo/share/octomap_server/launch (you can get here with roscd octomap_server)
laserScan to pointCloud2:
Handled by the python script runLaserGeometry.py
Resetting the map
To do that, import the Empty service and create an object with:
fromstd_srvs.srvimportEmptyresetter=rospy.ServiceProxy('/octomap_server/reset', Empty)
About
SLAM Implementation for 6.834 Grand Challenge 2017
Topics
apriltagslocalizationmappingoctomappoint-cloudroboticsslam
Resources
Readme
Activity
Stars
6 stars
Watchers
4 watching
Forks
4 forks
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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Repository files navigation
slam MASTER README
SLAM Implementation for 6.834 Grand Challenge 2017
Read this README before reading the README in the slam_backend repo.
Setup
This project has the following external dependencies:
- AprilTags
- Octomaps
- GTSAM/iSAM2
Installing AprilTags
- Clone from https://github.com/RIVeR-Lab/apriltags_ros into catkin_ws/src/
- cd into catkin_ws
- catkin_make
Installing Octomap
- sudo apt-get install ros-kinetic-octomap-server
- (may need to install ros-kinetic-octomap and ros-kinetic-octomap-mapping and ros-kinetic-octomap-msgs)
Installing GTSAM/iSAM2
- see slam_backend README
NOTE: Before launching SLAM, reset odom transform to the current robot location (Eric can do this). Make sure the robot is not moving
Launching everything
- roslaunch slam slam_master.launch
RViz Setup
- Open the config from slam/rviz/odomSLAM.rviz
Debugging
Make sure your environment variables are set correctly:
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>source~/catkin_ws/devel/setup.bash
Guide to running from a ROS Bag
run roscore
-- roscore
run apriltags
-- Make sure to copy run_apriltags_detection.launch from the slam/launch folder into the apriltags_ros/apriltags_ros/launch folder
-- in slam folder roslaunch apriltags_ros run_apriltag_detection.launch
run octomap
-- Make sure to copy antonio_octomap.launch according to README in the slam repo
-- in slam folder roslaunch octomap_server antonio_octomap.launch
roslaunch slam
-- roslaunch slam slam.launch
run the bag
-- rosparam set use_sim_time true
-- rosbag play --clock <bag_file>
Some other notes
Useful commands
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash
env | grep ROS
rosrun rqt_graph
rviz
rosrun rf view_frames

Outdated Notes:
Occupancy grid:
We're using octomap_server to read from a cloud_in PointCloud2, which comes from the laserToPointCloud2Converter node (runLaserGeometry.py python file). To run the octomap server, you execute
roslaunch octomap_server antonio_octomap.launch
******* the file antonio_octomap.launch needs to be moved to the directory:
/opt/ros/indigo/share/octomap_server/launch (you can get here with roscd octomap_server)
laserScan to pointCloud2:
Handled by the python script runLaserGeometry.py
Resetting the map
To do that, import the Empty service and create an object with:
fromstd_srvs.srvimportEmptyresetter=rospy.ServiceProxy('/octomap_server/reset', Empty)
About
SLAM Implementation for 6.834 Grand Challenge 2017
Topics
apriltagslocalizationmappingoctomappoint-cloudroboticsslam
Resources
Readme
Activity
Stars
6 stars
Watchers
4 watching
Forks
4 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

Skip to content
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100 Commits
Folders and files
NameName
Last commit message
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include
include
launch
launch
params
params
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scripts
src
src
CMakeLists.txt
CMakeLists.txt
README.md
README.md
package.xml
package.xml
Repository files navigation
slam MASTER README
SLAM Implementation for 6.834 Grand Challenge 2017
Read this README before reading the README in the slam_backend repo.
Setup
This project has the following external dependencies:
- AprilTags
- Octomaps
- GTSAM/iSAM2
Installing AprilTags
- Clone from https://github.com/RIVeR-Lab/apriltags_ros into catkin_ws/src/
- cd into catkin_ws
- catkin_make
Installing Octomap
- sudo apt-get install ros-kinetic-octomap-server
- (may need to install ros-kinetic-octomap and ros-kinetic-octomap-mapping and ros-kinetic-octomap-msgs)
Installing GTSAM/iSAM2
- see slam_backend README
NOTE: Before launching SLAM, reset odom transform to the current robot location (Eric can do this). Make sure the robot is not moving
Launching everything
- roslaunch slam slam_master.launch
RViz Setup
- Open the config from slam/rviz/odomSLAM.rviz
Debugging
Make sure your environment variables are set correctly:
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>source~/catkin_ws/devel/setup.bash
Guide to running from a ROS Bag
run roscore
-- roscore
run apriltags
-- Make sure to copy run_apriltags_detection.launch from the slam/launch folder into the apriltags_ros/apriltags_ros/launch folder
-- in slam folder roslaunch apriltags_ros run_apriltag_detection.launch
run octomap
-- Make sure to copy antonio_octomap.launch according to README in the slam repo
-- in slam folder roslaunch octomap_server antonio_octomap.launch
roslaunch slam
-- roslaunch slam slam.launch
run the bag
-- rosparam set use_sim_time true
-- rosbag play --clock <bag_file>
Some other notes
Useful commands
export ROS_MASTER_URI=http://192.168.2.100:11311
export ROS_IP=<local-ip, from ifconfig>
source ~/catkin_ws/devel/setup.bash
env | grep ROS
rosrun rqt_graph
rviz
rosrun rf view_frames

Outdated Notes:
Occupancy grid:
We're using octomap_server to read from a cloud_in PointCloud2, which comes from the laserToPointCloud2Converter node (runLaserGeometry.py python file). To run the octomap server, you execute
roslaunch octomap_server antonio_octomap.launch
******* the file antonio_octomap.launch needs to be moved to the directory:
/opt/ros/indigo/share/octomap_server/launch (you can get here with roscd octomap_server)
laserScan to pointCloud2:
Handled by the python script runLaserGeometry.py
Resetting the map
To do that, import the Empty service and create an object with:
fromstd_srvs.srvimportEmptyresetter=rospy.ServiceProxy('/octomap_server/reset', Empty)
About
SLAM Implementation for 6.834 Grand Challenge 2017
Topics
apriltagslocalizationmappingoctomappoint-cloudroboticsslam
Resources
Readme
Activity
Stars
6 stars
Watchers
4 watching
Forks
4 forks
Report repository
Releases
Packages
Contributors
Languages