fast_slam_project_temp

1# FastSLAM 2.0 Project
2
3ROS2 implementation of FastSLAM 2.0 with Gazebo simulation.
4
5## Structure
6
7- `fast_slam/` - Core C++ algorithm library
8- `fast_slam_ros/` - ROS2 integration, messages, and RViz visualization
9- `fast_slam_gz/` - Gazebo simulation with synthetic landmark plugins
10
11## Requirements
12
13- ROS2 Jazzy/Humble
14- Gazebo Harmonic (for simulation)
15- Eigen3, libnabo, OpenMP
16
17## Docker
18
19```bash
20# ROS with visualization
21xhost +local:docker
22docker compose up fast-slam-ros
23
24# Full simulation with Gazebo
25docker compose up fast-slam-sim
26```
27
28### Build targets
29
30```bash
31docker build --target ros -t fast-slam-ros:latest .
32docker build --target sim -t fast-slam-sim:latest .
33```
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