# AVP_SLAM_ROS

**Repository Path**: davidhan008/AVP_SLAM_ROS

## Basic Information

- **Project Name**: AVP_SLAM_ROS
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-15
- **Last Updated**: 2025-12-15

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 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