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RCL

RCL (Range-only Collaborative localization) is a real-time localization system for a team of ground vehicles. Each vehicle is equipped with an UWB module and wheel encoder. Three-dof poses (x,y and orientation) of all vehicles are estimated.

Required Dependencies

  • C++11
  • Build essential: sudo apt-get install build-essential
  • CMake: sudo apt-get install cmake
  • Boost: sudo apt-get install libboost-all-dev

if you build the apps:

  • matplotlib-cpp: sudo apt-get install python-matplotlib python-numpy python2.7-dev

Building

RCL uses the CMake pre-build tool.

git clone https://github.com/sqn175/range_only_CL.git
cd range_only_CL
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8

System requirement

The system is required to be Little Endian. The program is tested on Ubuntu 16.04.