Tested in
Intel Realsense Depth Camera D455 for Object detection and localization in local coordinate system
RPlidar A3 for 2D L-SLAM
Velodyne VLP-16 3D L-SLAM
Dependencies
$ wget https://raw.githubusercontent.com/greasyrapha/capstone_install/main/dependencies_install.sh
$ sudo bash ./dependencies_install.sh
ROS Package (catkin_ws is your workspace)
$ cd ~/catkin_ws/src
$ git clone https://github.com/greasyrapha/object_detection_localization
$ pip3 install -r requirements.txt
$ cd .. && catkin_make
Boot up your SLAM Algorithms
With 2D SLAM (Hector, Cartographer)
$ roslaunch detection 2D_run.launch
With 3D SLAM (LeGO-LOAM)
$ roslaunch detection 3D_run.launch