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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 lidar_localization package
Additional Links
No additional links.
Maintainers
- Zhenpeng Ge
Authors
- Ren Qian
- Ge Yao
lidar_localizarion
运行demo
ros2 launch lidar_localization matching.launch.py
- 可修改配置文件(
lidar_localization/config/lidar_localization.yaml)，选择不同点云匹配方法：ICP,ICP_SVD,NDT,NDT_OMP - 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
# lidar_localization/scripts
bash save_odometry.sh
- 保存的目录在
~/localization_data/trajectory/
evo 轨迹评估
# lidar_localization/scripts
bash evo_ape.sh
bash evo_rpe.sh
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 | |
| scan_context |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| kf_based_localization |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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