{"id":28577011,"url":"https://github.com/rsasaki0109/lidar_localization_ros2","last_synced_at":"2025-06-11T00:08:51.783Z","repository":{"id":47987517,"uuid":"256874291","full_name":"rsasaki0109/lidar_localization_ros2","owner":"rsasaki0109","description":"3D LIDAR Localization using NDT/GICP and pointcloud map in ROS 2 (Not 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lidar_localization_ros2\nA ROS2 package of 3D LIDAR-based Localization.\n\n\u003cimg src=\"./images/path.png\" width=\"640px\"\u003e\n\nGreen: path, Red: map  \n(the 5x5 grids in size of 50m × 50m)\n\n## Requirements\n\n- [ndt_omp_ros2](https://github.com/rsasaki0109/ndt_omp_ros2.git)\n\n## IO\n- input  \n/cloud  (sensor_msgs/PointCloud2)  \n/map  (sensor_msgs/PointCloud2)  \n/initialpose (geometry_msgs/PoseStamed)(when `set_initial_pose` is false)  \n/odom (nav_msgs/Odometry)(optional)   \n/imu  (sensor_msgs/Imu)(optional)  \n\n- output  \n/pcl_pose (geometry_msgs/PoseStamped)  \n/path (nav_msgs/Path)  \n/initial_map (sensor_msgs/PointCloud2)(when `use_pcd_map` is true)  \n\n## params\n\n|Name|Type|Default value|Description|\n|---|---|---|---|\n|registration_method|string|\"NDT_OMP\"|\"NDT\" or \"GICP\" or \"NDT_OMP\" or \"GICP_OMP\"|\n|score_threshold|double|2.0|registration score threshold|\n|ndt_resolution|double|2.0|resolution size of voxels[m]|\n|ndt_step_size|double|0.1|step_size maximum step length[m]|\n|ndt_num_threads|int|4|threads using NDT_OMP(if `0` is set, maximum alloawble threads are used.)|\n|transform_epsilon|double|0.01|transform epsilon to stop iteration in registration|\n|voxel_leaf_size|double|0.2|down sample size of input cloud[m]|\n|scan_max_range|double|100.0|max range of input cloud[m]|\n|scan_min_range|double|1.0|min range of input cloud[m]|\n|scan_periad|double|0.1|scan period of input cloud[sec]|\n|use_pcd_map|bool|false|whether pcd_map is used or not|\n|map_path|string|\"/map/map.pcd\"|pcd_map file path|\n|set_initial_pose|bool|false|whether or not to set the default value in the param file|\n|initial_pose_x|double|0.0|x-coordinate of the initial pose value[m]|\n|initial_pose_y|double|0.0|y-coordinate of the initial pose value[m]|\n|initial_pose_z|double|0.0|z-coordinate of the initial pose value[m]|\n|initial_pose_qx|double|0.0|Quaternion x of the initial pose value|\n|initial_pose_qy|double|0.0|Quaternion y of the initial pose value|\n|initial_pose_qz|double|0.0|Quaternion z of the initial pose value|\n|initial_pose_qw|double|1.0|Quaternion w of the initial pose value|\n|use_odom|bool|false|whether odom is used or not for initial attitude in point cloud registration|\n|use_imu|bool|false|whether 9-axis imu is used or not for point cloud distortion correction|\n|enable_debug|bool|false|whether debug is done or not|\n\n## demo\n\ndemo data(ROS1) by Tier IV（The link has changed and is now broken.)  \nhttps://data.tier4.jp/rosbag_details/?id=212  \nTo use ros1 rosbag , use [rosbags](https://pypi.org/project/rosbags/).  \nThe Velodyne VLP-16 was used in this data.\n\nBefore running, put `bin_tc-2017-10-15-ndmap.pcd` into your `map` directory and  \nedit the `map_path` parameter of `localization.yaml` in the `param` directory accordingly.\n```\nrviz2 -d src/lidar_localization_ros2/rviz/localization.rviz\nros2 launch lidar_localization_ros2 lidar_localization.launch.py\nros2 bag play tc_2017-10-15-15-34-02_free_download/\n```\n\n\u003cimg src=\"./images/path.png\" width=\"640px\"\u003e\n\nGreen: path, Red: map  \n(the 5x5 grids in size of 50m × 50m)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frsasaki0109%2Flidar_localization_ros2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frsasaki0109%2Flidar_localization_ros2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frsasaki0109%2Flidar_localization_ros2/lists"}