AVP_SLAM_ROS

停车场环境中的语义建图与定位算法，代码实现参考cartographer。
[video](https://www.bilibili.com/video/BV1aG4y1i7EC?share_source=copy_web&vd_source=1cd3f6f1bab3232928b0a4cc0ae193ad)

1.Prerequisites

1.1 开发于ubuntu18.04 + ros melodic
1.2 依赖库 ceres-solver

2.Build on ROS

cd ~/catkin_ws/src
git clone https://github.com/guyupan1911/AVP_SLAM_ROS.git
cd ../
catkin_make
source devel/setup.bash

3.Build on docker environment

1. pull image
sudo docker pull fdko11/ros:bionic-melodic-cartographer
2. create container
./docker/dev_start.sh (run once)
3. start container
docker start AVP
4. exec container
./docker/dev_into.sh

4.run semantic mapping

roslaunch avp mapping.launch