FAQ

General

Q: What is OmniMapper?

OmniMapper is an open source SLAM and mapping library and framework developed by Georgia Institute of Technology's Cognitive Robotics Lab. The mapping library aims to support a wide array of mapping tasks, ranging from scan matching based pose graphs to 3D feature-based maps annotated with semantic information. It has been designed with modularity in mind, so as to provide solutions to multi-modal mapping problems with any sensors that may be available. This can range from a single handheld Kinect to a robot that includes odometric information, kinect, and laser range finders.

Q: What is the intended use?

It is intended as framework for designing, developing and implementing SLAM systems. While we have used solutions based on this framework for a variety of projects and applications, keep in mind that this is research software and is not intended for production SLAM applications.

Q: Can I use it to localize my robot?

Currently, only while performing SLAM. Saving maps, loading maps, and localizing (without SLAM) are not yet supported, but may be added in a future release.

Q: Can I use it with the ROS navigation stack?

Yes, subject to the above limitations. While performing SLAM, it is possible to output a global map (via OctoMap), suitable for the ROS navigation stack's path planner.