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lidar_localizer

CI
This is the exraction of the localization and mapping packages from the Autoware AI
I am not the original author on this software and the license is in accordance with Autoware AI.

Overview

lidar_localizer package

IO

ndt_mapping

  • input
    /points_raw (sensor_msgs/PointCloud2)
  • output
    /ndt_map (sensor_msgs/PointCloud2)
    /curent_pose (geometry_msgs/PoseStamped)

ndt_matching

  • input
    /filtered_points (sensor_msgs/PointCloud2)
    /points_map (sensor_msgs/PointCloud2)
    /initialpose (geometry_msgs/PoseWithCovarianceStamped)

  • output
    /curent_pose (geometry_msgs/PoseStamped)

Parameter

ndt

Name Type Description Default value
max_iter int max iteration for alignment 25
step_size double step_size maximum step length[m] 0.1
ndt_res double resolution side length of voxels[m] 1.0
transform_epsilon double transform epsilon to stop iteration 0.1
voxel_leaf_size double a down sample size of a input cloud[m] 0.2

ndt_mapping

Name Type Description Default value
min_add_scan_shift double a moving distance of a map update[m] 1.5

Usage

Mapping

rviz -d src/lidar_localizer/config/mapping.rviz
roslaunch lidar_localizer ndt_mapping.launch

to save a map

rosrun pcl_ros pointcloud_to_pcd input:=/ndt_map prefix:=map

When processing long distance data, it is recommended to use ndt_mapping_submaps instead of ndt_mapping.

Matching

rviz -d src/lidar_localizer/config/matching.rviz
roslaunch lidar_localizer ndt_matching.launch
rostopic pub /initialpose geometry_msgs/PoseWithCovarianceStamped '{header:{frame_id: "map"},pose: {pose: {position: {x: 0, y: 0, z: 0}, orientation: {z: 0, w: 1}}}}'
rosrun pcl_ros pcd_to_pointcloud map_0.pcd /cloud_pcd:=/points_map _frame_id:=map