V-TR_Lite Robust and Long-Term Monocular Teach-and-Repeat Navigation using a Single-Experience Map Paper Video Demo Day2Night navigation Fisheye-Panorama navigation Authors: Li Sun, Marwan Taher, et al. Ubuntu 18 + ROS Melodic Usage launch odometry monitor, mapper and navigator: roslaunch vtr_lite vtr_lite.launch Mapping: rosservice call /vtr_lite/mapper "map_name: 'church'" Navigate: rosservice call /vtr_lite/navigator "map_name: 'church' reverse: false" Note, if you use the rosbags, you will need to firstly play the rosbag then call the services.