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pgo_toy_example

  • A toy example of Pose Graph Optimization (PGO) using g2o library.

Pose Graph Information

  • Pose: SE3Quat
  • Vertex: VertexSE3Expmap
  • Edge: EdgeSE3Expmap
  • Information Matrix: Randomly generated

Color Information

  • Black: Current Estimated Poses
  • Gray: Previous Poses

Requirement

  • ROS kinetic (Ubuntu 16.04) or ROS melodic (Ubuntu 18.04) download
  • g2o library (2020.07 commit) download
    • If you have a g2o version problem while building, try to use 31ea135 commit version.
    • In the g2o directory, type $ git checkout 31ea135 and build the g2o library.

Instruction

  • Clone this repository git clone https://github.com/edward0im/pgo_toy_example.
  • Put this direcotory into your workspace such as catkin_ws.
  • Build the workspace using catkin_make.
  • Update ROS packages using rospack profile.
  • Run roslaunch pgo_toy_example pgo_toy_example.launch.