{"id":19004708,"url":"https://github.com/osll/tiny-slam-ros-cpp","last_synced_at":"2025-08-31T15:13:37.015Z","repository":{"id":140743190,"uuid":"58363179","full_name":"OSLL/tiny-slam-ros-cpp","owner":"OSLL","description":"TinySLAM implementation for ROS (C++ version)","archived":false,"fork":false,"pushed_at":"2020-04-27T07:36:29.000Z","size":216,"stargazers_count":57,"open_issues_count":1,"forks_count":22,"subscribers_count":5,"default_branch":"master","last_synced_at":"2025-04-17T10:24:17.119Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/OSLL.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.rst","contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2016-05-09T09:03:50.000Z","updated_at":"2025-03-17T13:40:31.000Z","dependencies_parsed_at":"2023-05-20T17:45:38.989Z","dependency_job_id":null,"html_url":"https://github.com/OSLL/tiny-slam-ros-cpp","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OSLL%2Ftiny-slam-ros-cpp","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OSLL%2Ftiny-slam-ros-cpp/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OSLL%2Ftiny-slam-ros-cpp/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/OSLL%2Ftiny-slam-ros-cpp/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/OSLL","download_url":"https://codeload.github.com/OSLL/tiny-slam-ros-cpp/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":250297078,"owners_count":21407147,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-08T18:24:12.324Z","updated_at":"2025-04-22T18:33:41.453Z","avatar_url":"https://github.com/OSLL.png","language":"C++","readme":"### TinySLAM C++ implementation for ROS\n\n[![Build Status](http://build.ros.org/buildStatus/icon?job=Jdoc__tiny_slam__ubuntu_trusty_amd64)](http://build.ros.org/job/Jdoc__tiny_slam__ubuntu_trusty_amd64/)\n\n# Description\n\nThis package provides ROS implentation of the tinySLAM (https://openslam.org/tinyslam.html) that is one of the most simpliest and lightweight SLAM methods. Current implementation is compatible with ROS Jade and adds some improvements to the original method:\nthe alternative model of a grid map cell that keeps track of the average of all stored effective values (probability of being occupied with scan’s quality taken into account);\nan option to compute probability of a cell being occupied based on how the laser beam splits the cell (the original implementation uses the constant value).\n\n# Hardware Requirements\n\nCurrent implementation supposes that the robot provides odometry data and laser scan measurements from the horizontally mounted fixed laser scanner. These data should be provided through the ROS topics (see Subscribed topics).\n\n# Example\n\nUse the provided launch-file to run and configure tinySLAM node:\n\n\u003e roslaunch tiny_slam tinyslam_run.launch path:=[path to dataset]\n\nDataset should be in BAG format (http://wiki.ros.org/rosbag). You also may comment out rosbag node in the launch file if you use the real-time data or replace it with some other dataset player.\n\n# Nodes \n\n## tiny_slam\n\nThe tiny_slam node takes in [sensor_msgs/LaserScan](http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html) messages and odometry data from /tf topic and builds a map ([nav_msgs/OccupancyGrid](http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html)) that can be retrieved via the ROS topic /map.\n\n### Subscribed Topics\n\n* tf ([tf/tfMessage](http://docs.ros.org/api/tf/html/msg/tfMessage.html)) Transforms necessary to relate frames for laser, base, and odometry (see below)\n* laser_scan ([sensor_msgs/LaserScan](http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html)) Laser scans to create the map from\n\n### Published Topics\n\n* map ([nav_msgs/OccupancyGrid](http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html)) Get the map data from this topic (updated periodically)\n\n### Parameters\n\n* **~cell_type** (string, default: “avg”)\nAccepted values: “avg” -- modified cell model; “base” -- original cell model\n* **~occupancy_estimator** (string, default: \"const\")\nAccepted values: “const” -- original occupancy estimator; “area” -- dynamic occupancy estimator\n* **~skip_exceeding_lsr_vals** (boolean, default: false)\nDetermines how to handle out of range laser measurements: true -- ignore such measurements, false -- process as empty cells.\n* **~base_occupied_prob** (float, default: 0.95)\nThe initial probability of cell to be occupied (i.e. the probability of laser scan data to be valid)\n* **~base_empty_prob** (float, default: 0.01)\nThe initial probability of cell to be empty (i.e. the probability of out of range laser scan data to be valid)\n\n### Required tf Transforms\n*base_link → odom_combined*: usually provided by the odometry system (e.g., the driver for the mobile base)\n\n### Provided tf Transforms\n*map → robot_pose*: the current estimate of the robot's pose within the map frame \n\n### Contributors\n\n  - Artur Huletski \n  - Dmitriy Kartashov\n  - Kirill Krinkin\n\nCopyright (c) 2016 JetBrains Research, Mobile Robot Algorithms Laboratory\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fosll%2Ftiny-slam-ros-cpp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fosll%2Ftiny-slam-ros-cpp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fosll%2Ftiny-slam-ros-cpp/lists"}