NDT C++

Minimum NDT

IMG_0040.MOV

RUN

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/kazu-321/ndt_cpp_ros2.git
cd ~/ros2_ws
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash
ros2 run ndt_cpp_ros2 ndt_cpp_ros2

IO

Input

• /input/scan: sensor_msgs::msg::LaserScan
• /input/map : nav_msgs::msg::OccupancyGrid

Output

• /output/pose: geometry_msgs::msg::PoseStamped
• /tf: map -> odom

Supposed TF

odom -> base_link -> laser_link

Parameters

• map_frame_id : map frame id in tf. default: map

• odom_frame_id : odom frame id in tf. default: odom

• base_frame_id : base frame id in tf. default: base_link

• laser_frame_id : laser frame id in tf. default: laser_link

• initial_pose_x : initial pose x. default: 0.0

• initial_pose_y : initial pose y. default: 0.0

• initial_pose_yaw : initial pose yaw. default: 0.0

• frequency_millisec : frequency. default: 100

LICENSE

NDT C++ specific code is distributed under Apache2.0 License. The following extensions are included (*.cpp *.md)

NDT C++ specific data are distributed under MIT License. The following extensions are included (*.txt)