Map Preset
Drive Model
LiDAR Sensor
Rays90
Noise %2
Scan FOV360ยฐ
Odometry Drift
Drift0
Speed5
Render Layers
Occupancy Map
LiDAR Rays
Trajectory Trail
Particle Filter (MCL)
EKF Sensor Fusion
2ฯ Covariance Ellipse
Dynamic Obstacles
Dynamic Humans
Auto-Explore (Frontier)
3D Controls
Camera ModeTOP-DOWN
3D Voxel Map
โ GPU-intensive โ may reduce FPS
3D LiDAR Channels
โ 8 vertical channels โ reduces FPS
Pathfinding
Click on 3D scene to set target waypoint.
Statistics
Explored
0.0%
Distance
0.0m
Collisions
0
Time
0:00
EKF 2ฯ Uncertainty (P)
ยฑ0.12m
๐ Pose Comparison
| Source | X (px) | Y (px) | ฮธ (ยฐ) |
|---|---|---|---|
| TRUTH | โ | โ | โ |
| ODOM | โ | โ | โ |
| EKF | โ | โ | โ |
RMSE Odom
0.0px
RMSE EKF
N/A
Map Entropy
โ
Particle ESS
OFF
โณ RESAMPLE
events
0
RMSE HISTORY (120 frames)
Odom
EKF
Legend
Robot (true pose)
Believed pose
(odometry)
EKF 2ฯ Covariance Ellipse
LiDAR hit point
Occupied
ray
Free
ray
MCL particles
Frontier target
๐ฑ Click to set waypoint ยท WASD to drive ยท C camera ยท Tab view
๐ท TOP-DOWN
60 FPS
โถ PRESS LAUNCH SIM TO START
CLICK SCENE TO SET WAYPOINT AFTER LAUNCH
CLICK SCENE TO SET WAYPOINT AFTER LAUNCH
๐
What to Try First
- โถ Launch Sim โ Hit the button in the top bar to start the robot & LiDAR
- ๐ฏ Click scene โ Click anywhere on the 3D view to set an autonomous waypoint
- ๐ Raise Noise % โ Drag the Noise slider to ~15 and watch SLAM accuracy degrade
- ๐ท Switch Camera โ Press C to cycle Top-Down โ Follow โ Free
- ๐งฎ A* vs Dijkstra โ Switch algorithms in the Pathfinding panel, then click a new waypoint to compare routes
- ๐ Try Maze map โ Load the Maze preset and enable Frontier Exploration (auto-mapping)
๐ก Tip: Enable EKF + MCL together to see sensor fusion battle odometry drift
Active Algorithm
A* Pathfinding
Heuristic grid search
Bayesian SLAM
Log-odds occupancy grid
Keyboard Controls
Movement
W
A
S
D
3D Controls
Qโ
C๐ท
Eโ
Vโ
Tab
Hold keys to drive. Click on scene for autonomous navigation. C cycles camera. Tab toggles view.
Robot State
X: โ
Y: โ
Z: 0.0
ฮธ: โ
v: โ
CAM: TOP-DOWN
Event Log
Mini Map
OCC GRID