# CSCI-5552-Project
Project for Introduction to Sensing and Estimation in Robotics

# Team Body Slam
* Joel Amert      - 4009813
* HyeongJoo Hwang - 3879015
* Henry Grittner  - 4560922
* Kent Sommer     - 4530009


**Purpose**
* Implements simultaneous localization and mapping in 2D 

**Hardware used**
* Pioneer 3D-X mobile robot 
* Sick LMS-200 laser scanner

**Instructions to run**

* To Compile:
 * make
    
* To Clean:
 * make clean

* To Run:
 * Main Program:
  * sudo ./build/slam -rp /dev/ttyUSB0 -lp /dev/ttyUSB1
 * Real Time Plotting:
  * Open matlab and run "RealTimePlotting.m" after starting the main program