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ros2_laser_scan_matcher repositoryros2 laserscan laser-scan-matcher scan-matching ros2_laser_scan_matcher |
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Repository Summary
| Description | Laser scan matcher ported to ROS2 |
| Checkout URI | https://github.com/alexkaravaev/ros2_laser_scan_matcher.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-17 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | ros2 laserscan laser-scan-matcher scan-matching |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ros2_laser_scan_matcher | 0.0.0 |
README
Laser Scan Matcher for ROS2
Ported to ros2 version of laser-scan-matcher by scan_tools.
Installation
- Install modified version of csmlib
Topics
Subscribed topics
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/scan(sensor_msgs/LaserScan) -
/tf(tf2_msgs/TFMessage)Published topics
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/tf(tf2_msgs/TFMessage) with transform odom->base_link -
/odom(nav_msgs/Odometry) Optional. Parameter publish_odom must be set to the name of the topic. If topic is empty, odom will not be published.
Will be released features:
- Support of pure laserscan
- Support of IMU
- Support of odometry
- Support of PointCloud msgs
CONTRIBUTING
No CONTRIBUTING.md found.
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