scuttle_slam

The scuttle_slam ROS package provides configurations for different SLAM algorithms.

Dependencies

The configurations in this repository assume you have the following prerequisites installed on the device on which you want to run this code. That device might be an Ubuntu machine or a physical SCUTTLE using Raspberry Pi OS.

1. ROS Noetic with the ros-noetic-robot and ros-noetic-tf2 packages.
2. A working ROS workspace.
3. The scuttle_description package installed in your workspace.
4. The scuttle_bringup package installed in your workspace.

The ROS SLAM algorithms assume that at least one sensor is present that is able to either create a LaserScan or a PointCloud. Additionally some SLAM algorithms require that your robot publishes odometry data.

Implemented algorithms

The implemented algorithms are:

1. Gmapping - OpenSLAM's gmapping algorithm

Usage

After installing the prerequisites you can pull this repository to the device on which you want to run the code.

cd <YOUR_ROS_WORKSPACE>/src
git clone -b noetic https://github.com/scuttlerobot/scuttle_slam.git

Once the code is on the device you can 'build' the workspace

cd <YOUR_ROS_WORKSPACE>
catkin_make

Finally you can run the navigation stack for SCUTTLE

roslaunch scuttle_slam scuttle_slam.launch