https://github.com/sea-me-coss/localization
ROS2 packages for generating vehicle odometry from LIDAR scan data
https://github.com/sea-me-coss/localization
laser-scan-matcher lidar localization odometry ros2
Last synced: about 2 months ago
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ROS2 packages for generating vehicle odometry from LIDAR scan data
- Host: GitHub
- URL: https://github.com/sea-me-coss/localization
- Owner: SEA-ME-COSS
- License: cc-by-sa-4.0
- Created: 2024-03-13T21:36:46.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2024-06-17T12:52:40.000Z (about 2 years ago)
- Last Synced: 2025-06-01T13:00:30.109Z (about 1 year ago)
- Topics: laser-scan-matcher, lidar, localization, odometry, ros2
- Language: C++
- Homepage:
- Size: 11.5 MB
- Stars: 1
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# About
This repository is for the **Localization** part of the [Autonomous-Driving-System](https://github.com/SEA-ME-COSS/Autonomous-Driving-System) project. The included ROS2 packages generate vehicle odometry from LIDAR scan data obtained from [ECU-Core](https://github.com/SEA-ME-COSS/ECU-Core).
# Requirements
- **Ubuntu 20.04**
- **ROS2 setup**
Follow the instruction of [ROS2 foxy setup](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
# Usage
```bash
# Execute on the local machine
colcon build
source install/setup.bash
ros2 launch ros2_laser_scan_matcher odom_estimator.launch.py
ros2 run odom_converter odom_converter
```
# Note
The ROS2 topic communication is machine-to-machine. Make sure that both ECU-Core and local machine are connected to the same WLAN. If the connection is not successful, disable the firewall using the following command.
```bash
# Execute on the ECU-Core and local machine
sudo ufw disable
```
# Reference
- [ros2_laser_scan_matcher](https://github.com/AlexKaravaev/ros2_laser_scan_matcher)