{"id":467,"date":"2022-12-09T06:56:24","date_gmt":"2022-12-09T06:56:24","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/?p=467"},"modified":"2022-12-09T07:05:31","modified_gmt":"2022-12-09T07:05:31","slug":"fall-subsystems","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/fall-subsystems\/","title":{"rendered":"Multi-Robot SLAM (MRSLAM)"},"content":{"rendered":"\n<ul class=\"wp-block-list\"><li>MRSLAM localizes the agents and generates a map of the environment.<\/li><li>MRSLAM is an extension of SLAM Toolbox package to support multi-robot systems.<\/li><\/ul>\n\n\n\n<ul class=\"wp-block-list\"><li>MRSLAM <strong>generates a map<\/strong> and <strong>estimates poses <\/strong>of the agents.&nbsp;<\/li><li>A <strong>single pose-graph<\/strong> is constructed from each agent\u2019s sensor measurements: <strong>odometry and 2D laser scans<\/strong>.&nbsp;<\/li><li>The built map incorporates information from every agent and estimates of their poses.&nbsp;<\/li><li><strong>Loop closures<\/strong> occur when laser scans are matched between any previous scan from any agent, triggering <strong>pose-graph optimization <\/strong>and correcting any drift from odometry.<\/li><li>MRSLAM is able to build, extend, and improve maps of <strong>complex environments <\/strong>very accurately and robustly.<\/li><\/ul>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"441px;\" height=\"466px;\" src=\"https:\/\/lh4.googleusercontent.com\/M-IrHTS8MiCwYQ1rGGvvg-8198S1CKATcjUT_crWf-GCI9Q7qipZrrjzLR40IJZ8hcId8QJXtT-x7kS1eFz6qo-_XKCKe2zvnPG1yuZNE6jYP4geuZFniLDs6_RQ83JrXH1zU6QMR3gxKC8Ef1vnIbEoHDpm6-vpcPlGUJhZIZ1vGNGRKwGURBJhtvGAfxfN\"><\/p>\n\n\n\n<p>MRSLAM has made several contributions to SLAM toolbox, the default SLAM package for ROS2<\/p>\n\n\n\n<p>More contributions are on the way! (<a href=\"https:\/\/github.com\/SteveMacenski\/slam_toolbox\/pull\/539\">1<\/a>, <a href=\"https:\/\/github.com\/SteveMacenski\/slam_toolbox\/pull\/551\">2<\/a>, <a href=\"https:\/\/github.com\/SteveMacenski\/slam_toolbox\/pull\/541\">3<\/a>)<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>SLAM Toolbox<\/strong><\/td><td><strong>MRSLAM<\/strong><\/td><\/tr><tr><td>Single robot builds map<\/td><td>Multiple robots build same map together<\/td><\/tr><tr><td>Estimates pose for single robot<\/td><td>Estimates poses for multiple robots simultaneously<\/td><\/tr><tr><td>Agent can only loop close where it has visited<\/td><td>Agent can loop close anywhere that any agent has seen<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"722px;\" height=\"401px;\" src=\"https:\/\/lh5.googleusercontent.com\/dqTEjNKWa6yWqj7urUYfx0rI65WWtBRDd5_XOV_FMv8uZwVLV5SzeVU_9ojQtFsmkxRbUmueDeYFJAYsklTQCBwW0d0msMKB0RONAcjZNWwLK_3gi6ucxr3ovsvX8T4_09jKDlJszRxGIKshVaCihr0TlTaqKFWzENux_2G7ltzoj8eVYykpTkZzaBj_fK0w\"><\/p>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"643px;\" height=\"401px;\" src=\"https:\/\/lh3.googleusercontent.com\/HMVcGsY9DYydwaHAV6r1mqeIN0vA3onjxF5l9qxWJBRODXBg7upfF120nPupv7xPBFoiSdUrEKoy1gzfwUB1d3Q48kIz1ck-q66__1yEnXdr7gfNvW9YqQ7pexsIjaJ9KDv7DgoYvHkZxRIuuXWsn-SUEO17OXN1XFreiKwMMOZbfiwsVWoqHYLNSuPPpnp2\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>MRSLAM localizes the agents and generates a map of the environment. MRSLAM is an extension of SLAM Toolbox package to support multi-robot systems. MRSLAM generates a map and estimates poses of the agents.&nbsp; A single pose-graph is constructed from each agent\u2019s sensor measurements: odometry and 2D laser scans.&nbsp; The built map incorporates information from every<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/fall-subsystems\/\">+ Read More<\/a><\/p>\n","protected":false},"author":276,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[9],"tags":[],"class_list":["post-467","post","type-post","status-publish","format-standard","hentry","category-fall-subsystems-subsystems"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/467","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/users\/276"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/comments?post=467"}],"version-history":[{"count":5,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/467\/revisions"}],"predecessor-version":[{"id":475,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/467\/revisions\/475"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/media?parent=467"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/categories?post=467"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/tags?post=467"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}