Merge branch 'noetic-devel' of github.com:SteveMacenski/slam_toolbox …

…into noetic-devel
SteveMacenski · Dec 21, 2022 · 1b18cac · 1b18cac
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diff --git a/README.md b/README.md
@@ -46,6 +46,12 @@ The video below was collected at [Circuit Launch](https://www.circuitlaunch.com/
 
 ![map_image](/images/circuit_launch.gif?raw=true "Map Image")
 
+An overview of how the map was generated is presented below:
+![slam_toolbox_sync_diagram](/images/slam_toolbox_sync.png)
+1. ROS Node: SLAM toolbox is run in synchronous mode, which generates a ROS node. This node subscribes to laser scan and odometry topics, and publishes map to odom transform and a map.
+2. Get odometry and LIDAR data: A callback for the laser topic will generate a pose (using odometry) and a laser scan tied at that node. These PosedScan objects form a queue, which are processed by the algorithm.
+3. Process Data: The queue of PosedScan objects are used to construct a pose graph; odometry is refined using laser scan matching. This pose graph is used to compute robot pose, and find loop closures. If a loop closure is found, the pose graph is optimized, and pose estimates are updated. Pose estimates are used to compute and publish a map to odom transform for the robot.
+4. Mapping: Laser scans associated with each pose in the pose graph are used to construct and publish a map.
 
 # 03/23/2021 Note On Serialized Files
 

diff --git a/images/slam_toolbox_sync.png b/images/slam_toolbox_sync.png