A ROS Implementation of Simultaneous Localization and Mapping using navbase and amcl.
The bag file is not included in the repository, use a bag and modify the TF tree accordingly.
The following map was obtained using gmapping_visual.launch:
Folder /cfg contains the configuration files for move_base package
Folder /launch contains:
-gmapping_optitrack.launch: Launch file for gmapping with gmapping_optitrack
-gmapping_visual.launch: Launch file for gmapping with visual odometry
-nav_stack.launch: Launch file for the navigation stack
-amcl.launch.xml: Configuration file for amcl, called from nav_stack.launch
Folder /maps contains the map created with optitrack (map_optitrack.pgm) and
the map created with visual odometry (map_visual.pgm)
For gmapping: roslaunch project_two gmapping_optitrack.launch or
roslaunch project_two gmapping_visual.launch
For move_base: roslaunch project_two nav_stack.launch