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hdl_global_localization package from rdsim repo

rdsim_description rdsim_gazebo rdsim_glim rdsim_interfaces rdsim_localization rdsim_nav2 rdsim_scenario fast_gicp hdl_global_localization hdl_localization ndt_omp

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Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Robo Delivery Simulator
Checkout URI https://github.com/auturbo/rdsim.git
VCS Type git
VCS Version devel/2wheel_diff
Last Updated 2025-03-05
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags gps gazebo velodyne 3d-point-clouds ros2 vslam topology-graph cartographer glim mobilerobots hdl-localization nav2 ros2-humble
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The hdl_global_localization package

Additional Links

No additional links.

Maintainers

  • k.koide

Authors

No additional authors.
rdsim_submodules/hdl_localization/hdl_global_localization/README.md

hdl_global_localization

hdl_global_localization

Build Status on ROS melodic and noetic

Requirements

hdl_global_localization requires the following libraries:

  • PCL
  • OpenCV
  • OpenMP
  • Teaser++ [optional]

Services

  • /hdl_global_localization/set_engine (hdl_global_localization::SetGlobalLocalizationEngine)
    • Available global localization engines: BBS, FPFH_RANSAC, FPFH_TEASER
  • /hdl_global_localization/set_global_map (hdl_global_localization::SetGlobalMap)
  • /hdl_global_localization/query (hdl_global_localization::QueryGlobalLocalization)

Algorithms

  • 2D Grid Map-based Branch-and-Bound Search
    • Real-time loop closure in 2D LIDAR SLAM, ICRA, 2016
  • FPFH + RANSAC (based on pcl::SampleConsensusPrerejective)
    • Fast Point Feature Histograms (FPFH) for 3D registration, ICRA, 2009
    • Pose Estimation using Local Structure-Specific Shape and Appearance Context, ICRA, 2013
  • FPFH + Teaser++
    • TEASER: Fast and Certifiable Point Cloud Registration, T-RO, 2020

Contact

Kenji Koide, k.koide@aist.go.jp

Human-Centered Mobility Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Japan

CHANGELOG
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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.

Launch files

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Messages

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Services

Plugins

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Recent questions tagged hdl_global_localization at Robotics Stack Exchange

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