laser_odometry

A pluginlib-based package for laser-scan matching

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Package Summary

A unified Laser Odometry scheme which aims at providing a single, simple interface for different scan matcher algorithms. With a single node to start, selecting an scan-matching algorithm is as simple as setting a parameter in a launch file !

• Maintainer status: maintained
• Maintainer: Jeremie Deray [email protected]
• Author: Jeremie Deray [email protected]
• License: Apache-2.0
• Bug / feature tracker: https://github.com/artivis/laser_odometry/issues
• Source: git https://github.com/artivis/laser_odometry.git (branch: master)

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Plugins

Available plugins:

• laser_odometry_csm A plugin for csm
• laser_odometry_libpointmatcher A plugin for libpointmatcher
• laser_odometry_polar A plugin for the polar scan matcher
• laser_odometry_rf2o A plugin for the rf2o scan matcher
• laser_odometry_srf A plugin for the srf scan matcher

Notes

• This package is still under heavy developement thus the API is not completely stable yet.
• For ROS distro pre-Kinetic, to properly visualize the nav_msgs/Odometry message published by the node with Rviz (that is, with its covariance), it is recommended to use the rviz_plugin_covariance (E.g. wiki Screenshot).

Documentation

• The Doxygen documention is available online at codedocs.xyz/artivis/laser_odometry.
• Some notes about the node topics and parameters can be found in the Parameters & Topics wiki page.
• The overall execution scheme is summarized in the pseudo-code wiki page.
• To develop your own plugin, please refer to the plugin instructions wiki page.