hector_slam_g2o

A ROS Package for Pose Graph SLAM that uses hector_slam for the front end and g2o for backend.

Requirements

hector_slam_g2o requires the following libraries:

• G2O
• PCL
• Ceres
• Eigen3

The following ROS packages are required:

• nav_msgs
• roscpp
• sensor_msgs
• tf
• tf_conversions
• laser_geometry
• fast_gicp
• geometry_msgs

How to Use

roslaunch hector_slam_g2o hector_slam_g2o.launch