GitHub - kentsommer/2D-EKF-SLAM: Project for Introduction to Sensing and Estimation in Robotics

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Project for Introduction to Sensing and Estimation in Robotics

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Name		Name	Last commit message	Last commit date
Latest commit History 128 Commits
features		features
mapping		mapping
movement		movement
odometry		odometry
results		results
.gitignore		.gitignore
LICENSE		LICENSE
Makefile		Makefile
README.txt		README.txt
plot.py		plot.py
slam.cpp		slam.cpp

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# CSCI-5552-Project
Project for Introduction to Sensing and Estimation in Robotics

# Team Body Slam
* Joel Amert      - 4009813
* HyeongJoo Hwang - 3879015
* Henry Grittner  - 4560922
* Kent Sommer     - 4530009


**Purpose**
* Implements simultaneous localization and mapping in 2D 

**Hardware used**
* Pioneer 3D-X mobile robot 
* Sick LMS-200 laser scanner

**Instructions to run**

* To Compile:
 * make
    
* To Clean:
 * make clean

* To Run:
 * Main Program:
  * sudo ./build/slam -rp /dev/ttyUSB0 -lp /dev/ttyUSB1
 * Real Time Plotting:
  * Open matlab and run "RealTimePlotting.m" after starting the main program