Root is an open-source indoor simulated robot.

It is built with the intention to test different algorithms related to:

• Motion planning
• Dynamics and Control
• Perception
• State estimation

It contains a varity of commonly used sensor that can be easily enabled and disabled as per the requirement.

With root, there comes root_home and its friends as workspace for it to operate in:

1. root_home
   

2. root_home_realistic
   

3. root_home_apriltag
   

When comparing different state estimation algorithms (eg, sensor fusion of different odometry source, localization with a known map, simultaneous localization and mapping(SLAM) etc) ground truth information becomes very helpful.

So for this purpos:

1. ground truth layout has been made from the cad file of root_home
   
2. gt_pub node has beed made which publishes different ground truth informations:

• Transforms
  
• Paths