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  1. ros2-lidar-inertial-slam ros2-lidar-inertial-slam Public

    ROS 2 Humble LiDAR-inertial SLAM on a Raspberry Pi 4: RPLIDAR A2M7 scan matching fused with an ICM-20948 IMU via robot_localization EKF, feeding SLAM Toolbox. No wheel encoders.

    Python

  2. ros2-nav2-navigation-sim ros2-nav2-navigation-sim Public

    Physics-free ROS 2 Humble Nav2 testbed on a real SLAM map: cmd_vel-integrating fake odometry, A* + DWB, dynamic obstacles and odometry noise. 7 scenarios x 5 trials of measured results.

    Python

  3. ros2-orbslam3-vio ros2-orbslam3-vio Public

    ROS 2 Humble ORB-SLAM3 wrapper on a Raspberry Pi 4 with a Pi Camera v2: monocular SLAM (working, ~6-8 Hz @ 2.6% CPU), monocular-inertial VIO (integrated, init does not converge - causes documented)…

    C++ 1