FastSLAM ROS Nodes

More instructions to come

FastSLAM test status:

This repo houses the ROS scripts to run our implementation of FastSLAM on robots. We are using iRobot Create3 with a RP Lidar A1M8 as our experimental platform.

I. Dependent Packages

Make sure the following packages are installed before proceeding to package setup.

1. RP Lidar:

   Remeber to use the ROS 2 branch

2. Turtlebot 4 simulator (optional, for simulation):

II. Installation Instructions

Clone the repo into your ros workspace src folder:

cd <your-ros2-ws>/src
git clone --recursive https://github.com/USC-ACTLab/fastslam_ros
cd ..
colcon build --packages-select slam_publisher

# if you are using bash, otherwise source setup.zsh
source install/setup.bash 

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