GTSAM Pose4DoF Package

Caution: This package is currently under validation; please refrain from using it at this time.

How to build & run

It just can be used as a ROS1 package now.

cd ~/catkin_ws/src
git clone https://github.com/MIT-SPARK/pose4dof.git
cd ..
catkin build pose4dof

Notes About TEST

In

• TEST(Pose4DoFTest, Pose4DoFSLAMWithGaussNewton)
• TEST(Pose4DoFTest, Pose4DoFSLAMWithLevenbergMarquardt)

in test/pose4dof_unit_tests.cpp, it might be a natural phenomenon, but once stdev_yaw becomes too large, the unit tests do not pass.