CourseRepo

This folder contains the files for SLAM Robotics & Autonomous Driving course, this course mostly based on: Ubuntu (I use 14.04) with ROS Indigo.

1. Install ROS 安装ROS版本可以根据个人情况而定,没有特定要求

Before start, please follow the instruction to install ROS:

• For indigo: Link, if you use ubuntu, follow this link

• For other distribution of ROS, please search google with: ROS + dirstribution + install

2. Install Opencv

Please follow this intruction

If you need a disfferent distribution, execute

• git checkout distribution

Pre-materials

How to creat a ROS Workspace, it is more convenient than catkin_workspace

1. First step:

cd ~/

mkdir ROS_WORKSPACE

2. Edit .bashrc

gedit .bashrc # open .bashrc under ~/

Then, paste the following behind source /opt/ros/indigo/setup.bash:

ROS_WORKSPACE=$HOME/ROS_WORKSPACE

export ROS_WORKSPACE

ROS_PACKAGE_PATH=$ROS_WORKSPACE:$ROS_PACKAGE_PATH

export ROS_PACKAGE_PATH

Open a new terminal, try:

roscd

CMake Tutorial

1. 一本很好的书,感谢作者

• 书链接

2. 一个很好的教程

• 链接

Add SSH key to your github

Follow this intruction,

https://help.github.com/articles/adding-a-new-ssh-key-to-your-github-account/

If not working, go to your folder with use interface or go to the /path/of/the/folder in terminal execute:

ll

Then, go to .git/config, change

url = http://github.com/path/to/repository to url = ssh://git@github.com/path/to/repository Then, it should work.

资料

更新了阅读资料百度网盘链接 密码 ​​​tpb3

需要资料的话,请留言,或者平台问答.

Course Contents

第一讲: SLAM概论和架构

第二讲: SLAM基本理论一：坐标系、刚体运动和李群

第三讲: SLAM基本理论二：从贝叶斯开始学滤波器

第四讲: SLAM基本理论三：图优化