Scripts

The following scripts can be run in a separate terminal to assist with visualizing iSAM2.

arrows.py Plots the heading of the car at each car pose as arrows. Used to visualize the path of the car and the heading after a particular moment in time (run at one time)

visualize_pose.py Plots the heading of the car at each car pose as arrows. Can be run as iSAM2 node is running.

visualize_pose_cones.py Plots the heading of the car at each car pose as arrows. Also plots the iSAM2 estimates for previously seen cone positions. Can be run as iSAM2 node is running.

visualize.py Plots the iSAM2 estimates for the previously seen cones and previously exhibited car poses.

start_sim.txt File containing terminal commands for running the eufs_sim simulator. Make sure to setup the simulator first (See)