FastSLAM 2.0 Project

ROS2 implementation of FastSLAM 2.0 with Gazebo simulation.

Structure

• fast_slam/ - Core C++ algorithm library
• fast_slam_ros/ - ROS2 integration, messages, and RViz visualization
• fast_slam_gz/ - Gazebo simulation with synthetic landmark plugins

Requirements

• ROS2 Jazzy/Humble
• Gazebo Harmonic (for simulation)
• Eigen3, libnabo, OpenMP

Docker

# ROS with visualization
xhost +local:docker
docker compose up fast-slam-ros

# Full simulation with Gazebo
docker compose up fast-slam-sim

Build targets

docker build --target ros -t fast-slam-ros:latest .
docker build --target sim -t fast-slam-sim:latest .