[✨FEAT✨]: localisation

[Jack17432]

Is there an existing enhancement request for this?

• I have searched the existing feature requests

Description

Slam algo

Additional Information

No response

[jchu634]

Plan

1. Try integrate existing SLAM Solution

   • Existing solution: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
   • Works with ROS2, compatible with ZED cameras
   • Criteria for successful integration:
     • Performant: the solution must be performant enough to handle driving
   • Inputs
     • ZED Left camera data
     • ZED Right camera data
     • ZED IMU Data
   • Outputs
     • Odometry
     • Current pose
     • Trail of poses (SLAM)
     • Trail of poses (Visual Odometry)
   • Actions
     • Save map
     • load map and localise

2. Test solution with test data

   • Potentially using a simulation platform
     • https://github.com/FS-Driverless/Formula-Student-Driverless-Simulator
     • https://www.nvidia.com/en-us/omniverse/
   • Python script that generates test data

3. Test solution on real-world scenario

Planned Architecture