Overview

This repository contains code and resources for a LiDAR (Light Detection and Ranging) Simultaneous Localization and Mapping (SLAM) project. The goal of this project is to leverage LiDAR sensor data to create a map of an environment while simultaneously localizing the sensor within that map.

Packages that we used

• sllidar_ros2: read the LiDAR data and display it on RVIZ2.
• XSENS Dot Library: function to work with Xsens Dot imu.
• robot_localization: fuse IMU data with encoder for better odometry.
• ros2_controllers: send the command to control the car and receive encoder data over serial.
• slam_toolbox: create a map of environments from LiDAR and Odometry data.

Results

• Built environment in our lab: youtube
• Single room: youtube
• Hallway: youtube