#SLAM

During the last months, I worked on uvt-rs, my first project in Rust 🦀!

uvt-rs is a collection of Rust crates for processing and interacting with Uncrewed Vehicle Trajectory (UVT) files. The UVT file format provides a lightweight way to describe trajectories of uncrewed vehicles, such as UAV, UGV, etc. It was designed as an extension of the LTR format introduced in Kilometer-Scale Autonomous Navigation in Subarctic Forests: Challenges and Lessons Learned.

The repository includes three crates:

• uvt, to read, write, and generate UVT files from ROS bags (.bag) and MCAP files
• uvt-plot, to plot a bird's-eye view of recorded trajectories
• uvt-viz3d, to visualize UVT files in 3D with rerun

Through this project, I learned a lot about coding and packaging Rust crates, and I gained experience with deserializing messages from both ROS bag and MCAP formats. I'm now looking forward to more opportunities to use Rust for robotics projects!

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{

"images": [ { "src": "rerun02.png", "title": "A UVT file visualized in rerun"}, { "src": "rerun01.png", "title": "A UVT file visualized in rerun"}, { "src": "traj-plot.png", "title": "Trajectory plotted with uvt-plot."} ] }