CoLRIO

  mkdir -p ~/cslam_ws/src
  cd ~/cslam_ws/src
  git clone https://github.com/zhongshp/Co-LRIO.git
  cd ../
  colcon build --symlink-install
  

  ros2 launch co_lrio run.launch.py
  ros2 bag play *your-bag-path*
  

@INPROCEEDINGS{10611672,
  author={Zhong, Shipeng and Chen, Hongbo and Qi, Yuhua and Feng, Dapeng and Chen, Zhiqiang and Wu, Jin and Wen, Weisong and Liu, Ming},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms}, 
  year={2024},
  volume={},
  number={},
  pages={3920-3926},
  keywords={Simultaneous localization and mapping;Accuracy;Scalability;Collaboration;Computational efficiency;Sensors;Servers},
  doi={10.1109/ICRA57147.2024.10611672}}

@ARTICLE{10740801,
  author={Feng, Dapeng and Qi, Yuhua and Zhong, Shipeng and Chen, Zhiqiang and Chen, Qiming and Chen, Hongbo and Wu, Jin and Ma, Jun},
  journal={IEEE Robotics and Automation Letters}, 
  title={S3E: A Multi-Robot Multimodal Dataset for Collaborative SLAM}, 
  year={2024},
  volume={9},
  number={12},
  pages={11401-11408},
  keywords={Simultaneous localization and mapping;Robot sensing systems;Synchronization;Trajectory;Global navigation satellite system;Collaboration;Accuracy;Motion capture;Robot localization;Multi-robot systems;Multi-robot SLAM;data sets for SLAM;SLAM},
  doi={10.1109/LRA.2024.3490402}}