SLAM Network Application

Central cloud or edge Map Creator, Map Server and 3D localization

ROS1 GRAPH-SLAM Container

SLAM mode

Inputs

• TF tree

• Topics:

  • imu (sensors_msgs/Imu)

  • pointcloud (draco_point_cloud_transport/CompressedPointCloud2)

  • gps (sensor_msgs/NavSatFix)

  • odom (nav_msgs/Odometry)

• services:

  • stop_mapping_service (WIP)

outputs

• files:

  • 3d map: pbstream map

  • 2d map: yaml + pgm

• topics:

  • asset_writer_progress

Configuration

Localization mode

Inputs

• files:

  • 3d map: pbstream map

  • 2d map: yaml + pgm

• Topics:

  • imu (sensors_msgs/Imu)

  • pointcloud (draco_point_cloud_transport/CompressedPointCloud2)

  • gps (sensor_msgs/NavSatFix)

  • odom (nav_msgs/Odometry)

• services:

  • Init_pose

Outputs

• TF tree (between odom and map)

• topic:

  • reliable_localization

Configuration