See the README files in carla_tools, vil_fusion, and gtsam_fusion for more information.

The final implementation of the thesis, with sensor fusion and degeneracy detection, is included in the gtsam_fusion package. The vil_fusion package was used only for experimentation. The carla_tools package is used for gathering simulation data from Carla.

Dependencies

The following packages should all exist in your catkin_ws/src:

• RSL Rovio Fork, branch tim-experimental
• RSL LOAM-Velodyne Fork, branch tim_experimental
• Image pipeline
• kindr
• Carla ROS Bridge, Fork with my IMU fix PR
  • If this PR has been merged to master, then you can probably just use the master branch from the main repo.
• confusion_dev (Ask Tim Sandy for read access)
• smb_confusor

Additionally, you will need a version of PCL built from source. See here for more information.

This repo is a full Catkin workspace with all of the necessary dependencies (and this package) as submodules. Just run this command to get it all:

git clone --recursive git@bitbucket.org:scottti/vil_sensor_fusion_workspace.git

There is more information in that repository about getting the dependencies configured.