Global Mapping & Localization

Community-standard packages for state estimation.

Kompass is designed to be modular. While it handles the core Navigation, it relies on standard community packages for Global Localization and Mapping.

We recommend the following battle-tested solutions to integrate with Kompass:

Robot Localization

Sensor Fusion (EKF) The standard for fusing IMU, Odometry, and GPS data. Use this to provide the robust odom \(\rightarrow\) base_link transform required by Kompass.

https://github.com/cra-ros-pkg/robot_localization

SLAM Toolbox

2D SLAM & Localization A highly efficient laser-based SLAM package. Use this to generate your initial map or for “Lifelong” mapping in changing environments.

https://github.com/SteveMacenski/slam_toolbox

Glim

3D LiDAR-Inertial Mapping A GPU-accelerated mapping framework. Use this for high-fidelity 3D SLAM and mapping using LiDAR and IMU data.

https://koide3.github.io/glim/

Kompass Map Server

Remember that Kompass includes its own 3D-capable Map Server if you need to work directly with Point Cloud (.pcd) files generated by tools like Glim.