A simple 2D LandMark based SLAM ROS simulation environment.
It is aimed to test your own implementation of landmark based SLAM,for instance,2D EKF SLAM or graph based SLAM.
Red path: True path of robot motion
Green path: Dead reckoning path from odometery information
Gray circle around robot: The measurement range of range bearing sensor
Green dots: LandMarks Blue lines: The measurements to current landmarks observed
"/NodeName/odom: " The odometry measurement
"/NodeName/observations:" The current landmarks measurement, whos ROS message type is slam_data_sim/RangeBearingObsData
slam_data_sim/RangeBearingObsData:
Header header
int64[] ids
float64[] ranges
float64[] angles
If you have any issues, please feel free to contack me through daojun@mail.ustc.edu.cn