Collaborative SLAM

[TheHassanShahzad]

Feature description

Multiple robots on the same network have a Aruco tag on them and using a camera they all have their respective positions in a global frame. Their lidar data is sent to a central computer which computers the filtered and merged occupancy grids for all the robots and that is broadcasted over a topic that all robots subscribe to and use as their global map for path finding

Implementation considerations

One method is each robot sends their raw LiDAR data to the central computer and the computer deals with that. Or the robots send their occupancy grid maps independently generated. I'm not sure which is better. Also I've never made a robot that has SLAM capability but I'm working towards it. This project aims to use ROS Humble and each robot has a Jetson Nano. Also out of interest should I get YDLidar X4,X3 or RPLIDARa1M8