icpslam

A basic SLAM system that employs 2D and 3D LIDAR measurements

TODO

• [X] Class for handling 6 DOF poses, with time stamp, position, rotation and covariance.
• [X] Handle robot odometry.
• [X] Handle absolute robot pose from Gazebo.
• [X] Estimate odometry using ICP on LIDAR measurements.
  • [X] Cloud skipping for coping with high frequency range measurements.
• [X] Mapping
  • [X] Implement a class to handle the current map with an Octree.
  • [X] Localization on currently built map. (inspiration: BLAM!)
• [X] Pose graph optimization
  • [X] Abstract class for pose optimization.
  • [X] Visualization with ROS markers.
  • [X] Integrate g2o.
  • [X] Integrate GTSAM.
  • [X] Basic pose graph with ICP transforms. ("Smoothing")
  • [X] Integrate wheel odometry.
• Technical improvements
  • [ ] Make odometry, localization and mapping nodes run concurrently.
  • [ ] Make everything thread safe.
• [ ] Wiki
  • [X] Installation.
  • [X] Parameters.
  • [ ] ROS nodes.
  • [ ] Examples of use.