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nemesis_core

Mapping Session

This repository is part of Nemesis Robot. A high level overview of this project can be found in this post https://antoan.github.io/Nemesis/

It covers the perception, simultaneous localization and mapping, and navigation components of the Nemesis Robot stack, with some very early stage autonomous navigation support with move_base, on ROS Melodic.

Lauch files for Intel D435i depth and T256 Visual Intertial tracking cameras used for the project are included in the nemesis_navigation package. rtabmap_ros is used for mapping with odometry input from the T265. Librealsense, the underlying sensors driver is setup via the Realsense distribution install (2) method.

  • nemesis_navigation : perception & navigation.
  • nemesis_viz : Visualization (rviz) configuration.

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