A ROS Package for Pose Graph SLAM that uses hector_slam for the front end and g2o for backend.
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
roslaunch hector_slam_g2o hector_slam_g2o.launch