Friday, December 31, 2010

Other SLAM Algorithms: CoreSLAM, Part 3

I've now got the build system working as well as fixing a number of parameter issues to be more ROS-compliant. Documentation for the package has been uploaded to

Here's another example map created (of the first floor of a home):

Next up on the docket of winter break projects: some updates to the ArbotiX ROS package, and a number of people perception algorithms.



  1. Hi Fergs,

    I was wondering if there is a way to change the initial map size in coreSLAM. Is the map size always fixed by 2048 x 2048?

  2. Jihoon, there currently isn't a map size setting (yet) -- mainly because of the way CoreSLAM was originally implemented (as a static C array).


  3. hi Fergs,

    My name is João Martins from the University of Coimbra (Portugal) and i'm doing research about slam packages on ROS for my work.

    I have downloaded the "slam_coreslam" stack and was able to compile it with ROS Fuerte after migrating the bullet calls to the tf namespace through a "rosrun tf".

    However, when I run the slam_coreslam node (in pkg coreslam), I get a segmentation fault. I understand that the code was developed a while ago and possible there are some other distro migration issues that I am not considering. Could you please point me towards a solution to this problem?

    Look forward to hearing from you. Keep up the good work!

    João Martins