Skip to content

README.md

Latest commit

 

History

History
15 lines (13 loc) · 936 Bytes

README.md

File metadata and controls

15 lines (13 loc) · 936 Bytes
Raw

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