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Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The graph localizer package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page graphlocalizer Graph Localizer

Package Overview

Performs sliding-window graph based optimization using a LocFactorAdder. Uses a PoseNodeAdder for creating pose nodes at required timestamps using relative odometry measurements.

Background

For more information on the theory behind the GraphLocalizer and the factors used, please see our paper:

  • Ryan Soussan, Varsha Kumar, Brian Coltin, and Trey Smith, “Astroloc: An efficient and robust localizer for a free-flying robot”, Int. Conf. on Robotics and Automation (ICRA), 2022. Link

Graph Optimization Structure

Factor Adders

  • LocFactorAdder

    Graph Factors

  • gtsam::BetweenFactor<gtsam::Pose3>
  • LocPoseFactor
  • LocProjectionFactor

    Node Adders

  • PoseNodeAdder
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged graph_localizer at Robotics Stack Exchange

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Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The graph localizer package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page graphlocalizer Graph Localizer

Package Overview

Performs sliding-window graph based optimization using a LocFactorAdder. Uses a PoseNodeAdder for creating pose nodes at required timestamps using relative odometry measurements.

Background

For more information on the theory behind the GraphLocalizer and the factors used, please see our paper:

  • Ryan Soussan, Varsha Kumar, Brian Coltin, and Trey Smith, “Astroloc: An efficient and robust localizer for a free-flying robot”, Int. Conf. on Robotics and Automation (ICRA), 2022. Link

Graph Optimization Structure

Factor Adders

  • LocFactorAdder

    Graph Factors

  • gtsam::BetweenFactor<gtsam::Pose3>
  • LocPoseFactor
  • LocProjectionFactor

    Node Adders

  • PoseNodeAdder
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged graph_localizer at Robotics Stack Exchange