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1# FastSLAM 2.0 Project
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3ROS2 implementation of FastSLAM 2.0 with Gazebo simulation.
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5## Structure
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7- `fast_slam/` - Core C++ algorithm library (no ROS dependencies)
8- `fast_slam_ros/` - ROS2 integration, messages, and RViz visualization
9- `fast_slam_gz/` - Gazebo simulation with synthetic landmark plugins
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11## Requirements
12
13- ROS2 Jazzy
14- Gazebo 8 (Harmonic)
15- Eigen3, libnabo, OpenMP
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17## Quick Start
18
19### Docker (recommended)
20```bash
21# Allow X11 forwarding
22xhost +local:docker
23
24# Run with GUI
25docker compose up fast_slam
26```
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