pgo_toy_example

• A toy example of Pose Graph Optimization (PGO) using g2o library.

Pose Graph Information

• Pose: SE3Quat
• Vertex: VertexSE3Expmap
• Edge: EdgeSE3Expmap
• Information Matrix: Randomly generated

Color Information

• Black: Current Estimated Poses
• Gray: Previous Poses

Requirement

• ROS kinetic (Ubuntu 16.04) or ROS melodic (Ubuntu 18.04) download
• g2o library (2020.07 commit) download
  • If you have a g2o version problem while building, try to use 31ea135 commit version.
  • In the g2o directory, type $ git checkout 31ea135 and build the g2o library.

Instruction

• Clone this repository git clone https://github.com/edward0im/pgo_toy_example.
• Put this direcotory into your workspace such as catkin_ws.
• Build the workspace using catkin_make.
• Update ROS packages using rospack profile.
• Run roslaunch pgo_toy_example pgo_toy_example.launch.