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Root is an open-source indoor simulated robot.
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It is built with the intention to test different algorithms related to:
- Motion planning
- Dynamics and Control
- Perception
- State estimation
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It contains a varity of commonly used sensor that can be easily enabled and disabled as per the requirement.
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With root, there comes root_home and its friends as workspace for it to operate in:
- root_home
- root_home_realistic
- root_home_apriltag
- root_home
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When comparing different state estimation algorithms (eg, sensor fusion of different odometry source, localization with a known map, simultaneous localization and mapping(SLAM) etc) ground truth information becomes very helpful.
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So for this purpos:
- ground truth layout has been made from the cad file of root_home
- gt_pub node has beed made which publishes different ground truth informations:
- Transforms
- Paths
- ground truth layout has been made from the cad file of root_home
