[ROS WORKSPACE] this work is a improved version of hector slam which extra add a back-end.
corresponding video: https://www.youtube.com/watch?v=N1KQz5MYElA
source code mainly lies in: /xyi_v2_ws/src/xyi2_brain/src
other support packages:
xyi2_bot launch file: robot platform: lidar drive program or...
xyi2_env launch file: offer static map
xyi2_bringup launch file: manage launchs
xyi2_brain src file: lattice slam main program: mapping, navigation, graph construction...
xyi2_buildmap src file: back_end program
xyi2_pshow & xyi2_test src file: test code
main package: xyi2_brain: /src:
thread_manage/thread_manage.cpp: multi-threads manage and global data allocation
com_bus/xxx.cpp: com bus drive programs
graph_base/xxx.cpp: back end graph io, structure...
map/xxx.cpp: static map data structure and parameters.
matchings/xxx.cpp: localization based on odom + lidar data
navigation/xxx.cpp: heuristic navigation algorithm which consider the robot's shape and dynamic map.
sensors/xxx.cpp: sensor model, like lidar