slam-toolbox-lifelong
CommunityMaintain a persistent, evolving map over time.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Lifelong mapping addresses unbounded map growth in long-duration robots by allowing the map to evolve, trim stale data, and persist improvements across sessions.
Core Features & Use Cases
- Graph trimming removes old, low-information nodes to keep the pose-graph size manageable.
- Map evolution updates the current map when revisiting areas, reflecting changes like moved furniture or opened doors.
- Serialize/deserialize workflows enable pausing and resuming mapping, and saving the latest map to disk.
- Flexible configuration for frames, resolution, thresholds, and solver settings to suit different environments.
- Workflow example: initialize mapping in online mode, serialize, switch to Lifelong mode, periodically serialize to preserve the latest map.
Quick Start
Launch slam_toolbox LifelongSlamToolbox with an existing serialized map file and configure map_file_name.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: slam-toolbox-lifelong Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#slam-toolbox-lifelong Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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