https://github.com/artivis/laser_odometry

A pluginlib-based package for laser-odometry
https://github.com/artivis/laser_odometry

laser-odometry robotics ros

Last synced: 3 months ago
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A pluginlib-based package for laser-odometry

• Host: GitHub
• URL: https://github.com/artivis/laser_odometry
• Owner: artivis
• License: apache-2.0
• Created: 2017-02-24T17:40:39.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2021-07-17T13:49:08.000Z (over 3 years ago)
• Last Synced: 2024-05-21T08:40:09.076Z (8 months ago)
• Topics: laser-odometry, robotics, ros
• Language: C++
• Homepage:
• Size: 199 KB
• Stars: 67
• Watchers: 6
• Forks: 25
• Open Issues: 6
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# laser_odometry

## A [`pluginlib`](http://wiki.ros.org/pluginlib)-based package for **laser-scan matching**

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[![GHA][badge-ci-img]][badge-ci]

## 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 

- Author: Jeremie Deray 

- 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)

---

## Plugins

Available plugins:

- [laser_odometry_csm](https://github.com/artivis/laser_odometry_csm) A plugin for [csm](https://github.com/AndreaCensi/csm)

- [laser_odometry_libpointmatcher](https://github.com/artivis/laser_odometry_libpointmatcher) A plugin for [libpointmatcher](https://github.com/ethz-asl/libpointmatcher)

- [laser_odometry_polar](https://github.com/artivis/laser_odometry_polar) A plugin for the [polar scan matcher](https://github.com/ccny-ros-pkg/scan_tools/tree/indigo/polar_scan_matcher)

- [laser_odometry_rf2o](https://github.com/artivis/laser_odometry_rf2o) A plugin for the [rf2o scan matcher](https://github.com/artivis/rf2o_laser_odometry)

- [laser_odometry_srf](https://github.com/artivis/laser_odometry_srf) A plugin for the [srf scan matcher](https://github.com/artivis/srf_laser_odometry)

## 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](https://github.com/laas/rviz_plugin_covariance) (E.g. [wiki Screenshot](https://github.com/artivis/laser_odometry/wiki/Screenshot)).

## Documentation

- The Doxygen documention is available online at [codedocs.xyz/artivis/laser_odometry](https://codedocs.xyz/artivis/laser_odometry/index.html).

- Some notes about the node topics and parameters can be found in the [Parameters & Topics](https://github.com/artivis/laser_odometry/wiki/Parameters-and-topics) wiki page.

- The overall execution scheme is summarized in the [pseudo-code](https://github.com/artivis/laser_odometry/wiki/Overall-execution-pseudo-code) wiki page.

- To develop your own plugin, please refer to [the plugin instructions](https://github.com/artivis/laser_odometry/wiki/Create-a-plugin) wiki page.

[//]: # (URLs)

[badge-ci-img]: https://github.com/artivis/laser_odometry/workflows/ci/badge.svg?branch=master

[badge-ci]: https://github.com/artivis/laser_odometry/workflows/ci/badge.svg?branch=master