A1_SLAM
所属分类：人工智能/神经网络/深度学习
开发工具：C++
文件大小：49648KB
下载次数：0
上传日期：2023-01-08 00:02:37
上 传 者：
sh-1993
说明： A1_SLAM，A1 SLAM：使用A1机载传感器的四头SLAM
(A1_SLAM,A1 SLAM: Quadruped SLAM using the A1 s onboard sensors)
文件列表:
a1_slam (0, 2022-11-29)
a1_slam\CMakeLists.txt (2102, 2022-11-29)
a1_slam\config (0, 2022-11-29)
a1_slam\config\config.yaml (5152, 2022-11-29)
a1_slam\docs (0, 2022-11-29)
a1_slam\docs\conf.py (1592, 2022-11-29)
a1_slam\docs\index.rst (1696, 2022-11-29)
a1_slam\docs\installation.rst (443, 2022-11-29)
a1_slam\docs\usage.rst (27, 2022-11-29)
a1_slam\launch (0, 2022-11-29)
a1_slam\launch\a1_slam.launch (2774, 2022-11-29)
a1_slam\package.xml (1057, 2022-11-29)
a1_slam\rviz (0, 2022-11-29)
a1_slam\rviz\a1_slam.rviz (7072, 2022-11-29)
a1_slam\setup.py (247, 2022-11-29)
a1_slam\src (0, 2022-11-29)
a1_slam\src\__init__.py (0, 2022-11-29)
a1_slam\src\nodes (0, 2022-11-29)
a1_slam\src\nodes\A1SlamNode.py (3992, 2022-11-29)
a1_slam\src\nodes\PreprocessCloudServer.cpp (997, 2022-11-29)
a1_slam\src\optimization (0, 2022-11-29)
a1_slam\src\optimization\optimizer.py (9721, 2022-11-29)
a1_slam\src\sensors (0, 2022-11-29)
a1_slam\src\sensors\depth.py (10434, 2022-11-29)
a1_slam\src\sensors\imu.py (9306, 2022-11-29)
a1_slam\src\sensors\lidar2D.py (10840, 2022-11-29)
a1_slam\src\sensors\lidar3D.py (10234, 2022-11-29)
a1_slam\srv (0, 2022-11-29)
a1_slam\srv\GetResults.srv (31, 2022-11-29)
a1_slam\srv\PreprocessCloud.srv (69, 2022-11-29)
a1_slam\test (0, 2022-11-29)
a1_slam\test\__init__.py (0, 2022-11-29)
a1_slam\test\test_2d_gicp.py (1659, 2022-11-29)
a1_slam\test\test_config (0, 2022-11-29)
a1_slam\test\test_config\test_config.yaml (3574, 2022-11-29)
a1_slam\test\test_integration_imu.py (6205, 2022-11-29)
... ...
# A1 SLAM: Quadruped SLAM using the A1's onboard sensors
**Note:** This repository is still under active development.
A1 SLAM is a rospackage that brings real-time SLAM capabilities utilizing factor graph optimization to Unitree's A1 quadruped. This package was designed around the onboard sensors on the A1 and aims for easy, convenient installation. In addition, this package is compatible with sensors that are not default to the A1.
This package has been tested using ROS Noetic on Ubuntu 20.04.
## Installation
If you haven't install ROS already, please follow the steps for [ROS installation](https://github.com/jerredchen/A1_SLAM/blob/master/http://wiki.ros.org/ROS/Installation).
```
# Install GTSAM as dependency if necessary
pip install --user gtsam
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/jerredchen/A1_SLAM.git --recursive
cd ..
catkin_make
```
## Documentation and Usage
For more information on using A1 SLAM, please see the [documentation](https://github.com/jerredchen/A1_SLAM/blob/master/http://a1-slam.rtfd.io).
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