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Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | localization for autonomous driving based on ROS2. |
| Checkout URI | https://github.com/gezp/localization_for_autonomous_driving.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-08-18 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | localization slam autonomous-driving ros2 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The graph_based_localization package
Additional Links
No additional links.
Maintainers
- Zhenpeng Ge
Authors
No additional authors.
graph_based_localization
运行demo
ros2 launch graph_based_localization sliding_window.launch.py
- 可修改配置文件(
graph_based_localization/config/sliding_window.yaml)，修改噪声项等参数 - 运行之前需要先进行建图，确保
~/localization_data/map/下已经有地图文件。
保存轨迹
# kf_based_localizarion/scripts
bash save_odometry.sh
- 保存的目录在
~/localization_data/trajectory/
evo 轨迹评估
# kf_based_localizarion/scripts
bash evo_ape.sh fused_pose
bash evo_rpe.sh fused_pose
# 评价lidar pose, 与fused进行对比
bash evo_ape.sh lidar_pose
bash evo_rpe.sh lidar_pose
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_common | |
| ament_lint_auto | |
| rclcpp | |
| localization_interfaces | |
| localization_common | |
| imu_odometry | |
| sophus |
System Dependencies
| Name |
|---|
| libceres-dev |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged graph_based_localization at Robotics Stack Exchange
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