https://github.com/sea-me-coss/localization

https://github.com/sea-me-coss/localization

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• Host: GitHub
• URL: https://github.com/sea-me-coss/localization
• Owner: SEA-ME-COSS
• Created: 2024-03-13T21:36:46.000Z (10 months ago)
• Default Branch: main
• Last Pushed: 2024-04-12T18:44:20.000Z (9 months ago)
• Last Synced: 2024-04-12T23:07:38.318Z (9 months ago)
• Language: C++
• Size: 493 KB
• Stars: 0
• Watchers: 0
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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# 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)