Implementation of SLAM in GTSAM, using data collected from youbot

[RavisankarSelvaraju]

Implemented the PlanarSLAM example of GTSAM for the data collected from youbot.

• The collected data is uploaded in pose_data_sdp_look_two_3_maker
• The planerSLAM_for_collected_data is script used in PlanarSLAM
• This sdp_look_two_3_marker_pose_plot is sample plotting of collected data is attached

[deebuls]

@RavisankarSelvaraju @TharunSethuraman Before SLAM do other simple things. Go as per the first tutorial https://gtsam.org/tutorials/intro.html

1. Modeling Robot Motion
2. Robot Localization
3. Poseslam

Do with the dataset colected 1 by 1 and draw the same diagrams.

[RavisankarSelvaraju]

@deebuls

This is a sample .csv file for data collected extracted from the bag file gtsam/data_collection/Extracted_data_from_bag_files/sdp_data_collection_look_one_3_marker.csv

Is the extracted data in the correct format?

[deebuls]

I checked the file we need more information. As per the new information . We can use the /odom frame as input and convert that to dx, dy, d_rotation .

so in addition to the input provided in velocity also record the /odom .

For ground truth we need the x, y and rotation in the map frame using the \tf

I maybe wrong, but this is the information I have now . Again all depends on how you get the code working . What it requires .