[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.
In MR_SLAM/LoopDetection/src/RING_ros/util.py, the code in line 99 should change from R[:3, 3] = np.array([x, y, 0]) to R[:3, 3] = np.array([x[0], y[0], 0]), which can solve the problem of 'the requested arrary has an imhomogeneous shape after 1 dimensions'.
In MR_SLAM/LoopDetection/src/RING_ros/main.py, he code in line 100 should change from fitness = gicp.get_fitness_score(max_range=1.0) to fitness = gicp.get_fitness_score(1.0), which can solve the problem of 'TypeError: get_fitness_score(): incompatible function arguments. The following argument types are supported: 1. (self: pygicp.LsqRegistration, arg0: float) -> float'
In MR_SLAM/LoopDetection/src/RING_ros/util.py, the code in line 99 should change from
R[:3, 3] = np.array([x, y, 0])toR[:3, 3] = np.array([x[0], y[0], 0]), which can solve the problem of 'the requested arrary has an imhomogeneous shape after 1 dimensions'. In MR_SLAM/LoopDetection/src/RING_ros/main.py, he code in line 100 should change fromfitness = gicp.get_fitness_score(max_range=1.0)tofitness = gicp.get_fitness_score(1.0), which can solve the problem of 'TypeError: get_fitness_score(): incompatible function arguments. The following argument types are supported: 1. (self: pygicp.LsqRegistration, arg0: float) -> float'