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pcl_localization_ros2 package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

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Package Summary

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

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

pcl_localization_ros2

Additional Links

No additional links.

Maintainers

  • ryohei sasaki

Authors

No additional authors.
utils/pcl_localization_ros2/README.md

pcl_localization_ros2

CI
A ROS2 package of 3D LIDAR-based Localization using PCL.

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

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” “NDT” or “GICP”
ndt_resolution double 2.0 resolution size of voxels[m]
ndt_step_size double 0.1 step_size maximum step length[m]
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
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/pcl_localization_ros2/rviz/localization.rviz
ros2 launch pcl_localization_ros2 pcl_localization.launch.py
ros2 bag play -s rosbag_v2 tc_2017-10-15-15-34-02_free_download.bag

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

  • launch/pointcloud_map_loader.launch.xml
      • pointcloud_map_path [default: /home/robot/autoware_universe/autoware_sim_ws/src/autoware_slam/map/lio_sam_maps]
      • pointcloud_map_loader_param_path [default: $(find-pkg-share pcl_localization_ros2)/param/pointcloud_map_loader.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pcl_localization_ros2 at Robotics Stack Exchange

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