root

• Root is an open-source indoor simulated robot.

• It is built with the intention to test different algorithms related to:

  • Motion planning
  • Dynamics and Control
  • Perception
  • State estimation

• It contains a varity of commonly used sensor that can be easily enabled and disabled as per the requirement.

• With root, there comes root_home and its friends as workspace for it to operate in:

  1. root_home
     
  
  2. root_home_realistic
     
  
  3. root_home_apriltag
     
  

Ground truth

• 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.

• So for this purpos:

  1. ground truth layout has been made from the cad file of root_home
     
  2. gt_pub node has beed made which publishes different ground truth informations:
  • Transforms
    
  • Paths