SLAM-Exploration

This will be a repository for exploring SLAM topics based lectures by Professor Claus Brenner. Rather than Python, the associated code for the lectures and assignments will be written in modern C++.

Getting Started

Course Information

• Link to lectures on youtube
• Link to the Python code used in lectures

Prequisites

• CMake
• Compiler version that supports C++17

Build and Setup

1. Clone repo

   git clone [email protected]:patrick--/SLAM-Exploration.git

2. Move into clone repo

   cd SLAM-Exploration

3. Create build directory and generate build dependencies

    mkdir build && cd build
    cmake ..
   

4. Build All Examples

    make
   

5. Run Examples

     ./UnitA/slam_01_a_plot_motor_ticks
   

File Overview

Unit A

Resource Files

• robot4_motors.txt - Sample motor encoder data from robot

Example Code

• slam_01_a_plot_motor_ticks.cpp - Plot the raw motor encoder data

  

• slam_01_b_print_motor_increments.cpp - Print differential motor encoder data

  

• slam_01_c_plot_motor_increments.cpp - Plot differential motor encoder data

  

Solved Assignments

• slam_02_a_filter_motor_question.cpp - Plot robots movement in 2D utilizing motor sensor data and motion equations.