periodic_slam

Overview

This package performs state estimation periodically

Dataset:

Citation

If you use this work, please be sure to cite Kumar, H.; Payne, J. J.; Travers, M.; Johnson, A. M.; and Choset, H. Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots. In ICRA Workshop on Visual-Inertial Navigation Systems, May 2021.

Preliminaries

This package uses:

• the feature tracker and image processor nodelet included with [msckf_vio] (https://github.com/KumarRobotics/msckf_vio).

Installation

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• [Eigen] (linear algebra library)
• gtsam (backend graph optimization) When building gtsam from source, use the following cmake flags: -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_BUILD_WRAP=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_TYPEDEF_POINTS_TO_VECTORS=ON
• [OpenCV]

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/kumarhans/periodic_slam.git
cd ../
catkin_make

Usage

Run the main visual odometry node with

roslaunch periodic_slam cameraAndFactor.launch

NEED TO FINISH WRITING REST OF README

Config files

Config file folder/set 1

• config_file_1.yaml Shortly explain the content of this config file

Config file folder/set 2

• ...

Launch files

• launch_file_1.launch: shortly explain what is launched (e.g standard simulation, simulation with gdb,...)

  Argument set 1

  • argument_1 Short description (e.g. as commented in launch file). Default: default_value.

  Argument set 2

  • ...

• ...

Nodes

ros_package_template

Reads temperature measurements and computed the average.

Subscribed Topics

• /temperature ([sensor_msgs/Temperature])

  The temperature measurements from which the average is computed.

Published Topics

...

Services

• get_average ([std_srvs/Trigger])

  Returns information about the current average. For example, you can trigger the computation from the console with

    rosservice call /ros_package_template/get_average
  

Parameters

• subscriber_topic (string, default: "/temperature")