DiSLAM

Distributed SLAM Communication Template

Installation

cd ~/
mkdir -p dislam_ws/src/
cd dislam_ws/src/
git clone https://github.com/ZJU-Robotics-Lab/DiSLAM.git
cd ..
catkin_make

Run

cd src/DiSLAM/src/

# run broadcaster
python broadcaster.py

# run subscriber
python listener.py

File Structure

• src/broadcaster.py：

Publish random DiSCO information: PointCloud2 LocalMap and Float32[] signature

• src/listener.py：

Subscribe DiSCO message from broadcaster