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lidar_localization_ros2 package from lidar_localization_ros2 repo

lidar_localization_ros2

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.1
License BSD2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description 3D LIDAR Localization using NDT/GICP and pointcloud map in ROS 2 (Not SLAM)
Checkout URI https://github.com/rsasaki0109/lidar_localization_ros2.git
VCS Type git
VCS Version main
Last Updated 2025-02-25
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags localization lidar pcl ndt ros2 gicp
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

lidar_localization_ros2

Additional Links

No additional links.

Maintainers

  • ryohei sasaki

Authors

No additional authors.
README.md

lidar_localization_ros2

A ROS2 package of 3D LIDAR-based Localization.

Green: path, Red: map
(the 5x5 grids in size of 50m × 50m)

Requirements

IO

  • input
    /cloud (sensor_msgs/PointCloud2)
    /map (sensor_msgs/PointCloud2)
    /initialpose (geometry_msgs/PoseStamed)(when set_initial_pose is false)
    /odom (nav_msgs/Odometry)(optional)
    /imu (sensor_msgs/Imu)(optional)

  • output
    /pcl_pose (geometry_msgs/PoseStamped)
    /path (nav_msgs/Path)
    /initial_map (sensor_msgs/PointCloud2)(when use_pcd_map is true)

params

Name Type Default value Description
registration_method string “NDT_OMP” “NDT” or “GICP” or “NDT_OMP” or “GICP_OMP”
score_threshold double 2.0 registration score threshold
ndt_resolution double 2.0 resolution size of voxels[m]
ndt_step_size double 0.1 step_size maximum step length[m]
ndt_num_threads int 4 threads using NDT_OMP(if 0 is set, maximum alloawble threads are used.)
transform_epsilon double 0.01 transform epsilon to stop iteration in registration
voxel_leaf_size double 0.2 down sample size of input cloud[m]
scan_max_range double 100.0 max range of input cloud[m]
scan_min_range double 1.0 min range of input cloud[m]
scan_periad double 0.1 scan period of input cloud[sec]
use_pcd_map bool false whether pcd_map is used or not
map_path string “/map/map.pcd” pcd_map file path
set_initial_pose bool false whether or not to set the default value in the param file
initial_pose_x double 0.0 x-coordinate of the initial pose value[m]
initial_pose_y double 0.0 y-coordinate of the initial pose value[m]
initial_pose_z double 0.0 z-coordinate of the initial pose value[m]
initial_pose_qx double 0.0 Quaternion x of the initial pose value
initial_pose_qy double 0.0 Quaternion y of the initial pose value
initial_pose_qz double 0.0 Quaternion z of the initial pose value
initial_pose_qw double 1.0 Quaternion w of the initial pose value
use_odom bool false whether odom is used or not for initial attitude in point cloud registration
use_imu bool false whether 9-axis imu is used or not for point cloud distortion correction
enable_debug bool false whether debug is done or not

demo

demo data(ROS1) by Tier IV
https://data.tier4.jp/rosbag_details/?id=212
To use ros1 rosbag , use rosbags.
The Velodyne VLP-16 was used in this data.

Before running, put bin_tc-2017-10-15-ndmap.pcd into your map directory and
edit the map_path parameter of localization.yaml in the param directory accordingly.

rviz2 -d src/lidar_localization_ros2/rviz/localization.rviz
ros2 launch lidar_localization_ros2 lidar_localization.launch.py
ros2 bag play tc_2017-10-15-15-34-02_free_download/

Green: path, Red: map
(the 5x5 grids in size of 50m × 50m)

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.

Launch files

No launch files found

Messages

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Services

No service files found

Plugins

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Recent questions tagged lidar_localization_ros2 at Robotics Stack Exchange

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