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SRRG2-SLAM-INTERFACES

This repository contains a single Catkin package:

  1. srrg2_slam_interfaces: generic interfaces and API designed to standardize multi-cue SLAM.

This package alone is not a complete SLAM system. The following additional srrg2 packages built on top of srrg2_slam_interfaces constitute the complete pipelines:

  • srrg2_laser_slam_2d: multi-cue 2D-LiDAR pipeline; it can manage multiple laser rangefinders together with wheel odometry.
  • srrg2_proslam: VO pipeline (Stereo or RGB-D) that natively supports sensor offsets.

Other additional srrg2 packages:

  • srrg2_executor: provides a shell interface to load, modify and run BOSS configuration file; this is the main package to run all srrg2 pipelines.
  • srrg2_config_visualizer: GUI to load, edit and generate BOSS configuration file; still experimental.

To know how to build the srrg2_slam_interfaces package, please refer to the readme file in the Catkin package. If you want to build also the additional srrg2 packages, refer to the instructions in their readme files.

Publications

To have a more detailed overview on this architecture, you can read our new preprint. If you use our code, please cite us in your work.

@misc{colosi2020plugandplay,
    title={Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use},
    author={Mirco Colosi and Irvin Aloise and Tiziano Guadagnino and Dominik Schlegel and Bartolomeo Della Corte and Kai O. Arras and Giorgio Grisetti},
    year={2020},
    eprint={2003.00754},
    archivePrefix={arXiv},
    primaryClass={cs.RO}
}

Contributors

  • Mirco Colosi
  • Irvin Aloise
  • Dominik Schlegel
  • Giorgio Grisetti
  • Bartolomeo Della Corte
  • Tiziano Guadagnino

License

BSD 3.0