No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

small_gicp_relocalization package from small_gicp_relocalization repo

small_gicp_relocalization

Package Summary

Tags No category tags.
Version 1.0.4
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/smbu-polarbear-robotics-team/small_gicp_relocalization.git
VCS Type git
VCS Version main
Last Updated 2025-03-30
Dev Status UNMAINTAINED
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

Using small_gicp to relocalize robot pose

Additional Links

No additional links.

Maintainers

  • Lihan Chen

Authors

  • Lihan Chen

small_gicp_relocalization

License Build

A simple example: Implementing point cloud alignment and localization using small_gicp

Given a registered pointcloud (based on the odom frame) and prior pointcloud (mapped using pointlio or similar tools), the node will calculate the transformation between the two point clouds and publish the correction from the map frame to the odom frame.

Dependencies

  • ROS2 Humble
  • small_gicp
  • pcl
  • OpenMP

Build

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

git clone https://github.com/LihanChen2004/small_gicp_relocalization.git

cd ..

  1. Install dependencies
    rosdepc install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
    
  1. Build
    colcon build --symlink-install -DCMAKE_BUILD_TYPE=release
    

Usage

  1. Set prior pointcloud file in launch file

  2. Adjust the transformation between base_frame and lidar_frame

    The global_pcd_map output by algorithms such as pointlio and fastlio is strictly based on the lidar_odom frame. However, the initial position of the robot is typically defined by the base_link frame within the odom coordinate system. To address this discrepancy, the code listens for the coordinate transformation from base_frame(velocity_reference_frame) to lidar_frame, allowing the global_pcd_map to be converted into the odom coordinate system.

    If not set, empty transformation will be used.

  3. Run

    ros2 launch small_gicp_relocalization small_gicp_relocalization_launch.py
    
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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged small_gicp_relocalization at Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.