ROS2 Navigation Package Tasks: Stage 1

[Ishaan-Datta]

Research ROS2 Navigation Libraries: (Gmapping and Cartographer)

• Find the input data requirements
• Find what sensors are most effective for the input data
• Find the output data and how that relates to SLAM
• Find example repositories demonstrating a usecase similar to ours
• Make notes on the relative performance of each library (accuracy, speed, effectiveness)
• Make a report including your findings

Additional Libraries: (Repeat the same steps as above for MOLA and ROMAN)

• https://acl.mit.edu/ROMAN/
• https://github.com/mit-acl/roman_ros
• https://www.youtube.com/watch?v=CXiU_2vYMQE&t=1s
• https://github.com/MOLAorg/mola
• https://docs.mola-slam.org/latest/
• https://github.com/MOLAorg/mola_lidar_odometry
• https://discourse.ros.org/t/slam-new-3d-lidar-odometry-mapping-and-localization-packages/39364