elevation_mapping
slam_gmapping
| elevation_mapping | slam_gmapping | |
|---|---|---|
| 1 | 1 | |
| 1,211 | 96 | |
| 1.3% | - | |
| 4.8 | 0.0 | |
| 17 days ago | over 2 years ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | - |
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elevation_mapping
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System Requirements for elevation_mapping Package?
My lab's working on incorporating the ANYbotics elevation_mapping package (https://github.com/ANYbotics/elevation_mapping) into our robot. The plan is to use several Intel RealSense (or other RGB-D) cameras to provide data that the rover will use to build its elevation map of the surrounding environment. The trick is that this seems to be incredibly slow: my laptop doesn't have a very good graphics card and so the elevation_mapping demo that comes with the package runs incredibly slow. For our application, we need the process to run fairly quickly, but we're confused as to how to spec a computer for running this package on board an actual robot.
slam_gmapping
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Robot Operating System: Requirements for Autonomous Navigation
SLAM Gmapping: ROS2 core SLAM package, requires a sensor_msg/laser_scan topic to work.
What are some alternatives?
voxblox - A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
cartographer - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
cartographer - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
lidarslam_ros2 - ROS 2 package of 3D lidar slam using ndt/gicp registration and pose-optimization
rtabmap - RTAB-Map library and standalone application
tello-ros2 - ROS2 node for DJI Tello and Visual SLAM for mapping of indoor environments.