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SLAM from Scratch

using this repo for the cleaned dataset and data loading method.

To run code for the project:

  • Activate the julia project
  • using Revise, SLAM
  • To test a function I make sure the parent file is included in SLAM.jl and the function is exported for the SLAM module then I just call it from the REPL
    • NOTE: using Revise lets you modify the source code and then make the call again from the REPL
    • without having to reimport or anything
  • data = read_data()
  • viz_scans(data) (not sure if this works because Plots.jl bug with gif creation on mac I think)
  • plot_scan(data[i][2]) will show plot the laser scan for the ith observation with the robot centered at (0,0) on the xy plane