SLAM

[Bill-Haoyu-Lin]

Description:

SLAM is used for localization in our situation, since our battleground is given, so we can give robot a known environment and it can do localization and local environment mapping( for example if there is any other robot is on the way etc.)

Possible Hardware:

Oak-d S2 (Depth Camera) -- We have now \ Mid360 (LiDAR) -- Will get it soon

Useful Links:

Oak-d S2 documentation:

https://docs.luxonis.com/projects/hardware/en/latest/pages/DM9098s2/ \ https://github.com/luxonis/depthai-ros

SLAM with Oak-d

https://docs.luxonis.com/en/latest/pages/slam_oak/

[Bill-Haoyu-Lin]

https://drive.google.com/file/d/1nRZ01DpzD7jb8CJ3zgmK1WJCfljGgCw-/view?usp=sharing here is the step model for rmuc 2023 map