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https://github.com/southeugeneroboticsteam/dunk
A fast ICP SLAM implementation for FRC robots
https://github.com/southeugeneroboticsteam/dunk
frc lidar localization mapping slam
Last synced: 5 days ago
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A fast ICP SLAM implementation for FRC robots
- Host: GitHub
- URL: https://github.com/southeugeneroboticsteam/dunk
- Owner: SouthEugeneRoboticsTeam
- License: gpl-3.0
- Created: 2018-09-02T19:07:16.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2019-01-30T01:19:27.000Z (almost 6 years ago)
- Last Synced: 2023-08-05T10:37:21.839Z (over 1 year ago)
- Topics: frc, lidar, localization, mapping, slam
- Language: C++
- Homepage:
- Size: 86.9 KB
- Stars: 9
- Watchers: 1
- Forks: 1
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
A fast ICP SLAM implementation for FRC robots.
# Building
Before building, ensure you have [MRPT](https://github.com/MRPT/mrpt) 2.x
installed. MRPT requires Ubuntu 16.04 or later. If using Ubuntu 16.04, you'll
also need to install gcc-7. Instructions on installing gcc-7 are available in
the [MRPT documentation](https://github.com/MRPT/mrpt#31-ubuntu).
To get the latest version of MRPT, either build it from source or install it
using `apt-get`:
```bash
$ sudo add-apt-repository ppa:joseluisblancoc/mrpt
$ sudo apt-get update
$ sudo apt-get install libmrpt-dev mrpt-apps
```
Then, build a `dunk` binary using the following commands:
```bash
$ mkdir build && cd build
$ cmake ..
$ make
```
# Usage
```bash
$ ./dunk
# For example...
$ ./dunk icp-slam-config.ini
```