autoware_ndt_scan_matcher

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_ndt_scan_matcher package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Masahiro Sakamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Ryu Yamamoto

Authors

Yamato Ando

autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

estimate position by scan matching
estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name	Type	Description
`ekf_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	initial pose
`points_raw`	`sensor_msgs::msg::PointCloud2`	sensor pointcloud
`sensing/gnss/pose_with_covariance`	`sensor_msgs::msg::PoseWithCovarianceStamped`	base position for regularization term

Output

Name	Type	Description
`ndt_pose`	`geometry_msgs::msg::PoseStamped`	estimated pose
`ndt_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	estimated pose with covariance
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics
`points_aligned`	`sensor_msgs::msg::PointCloud2`	[debug topic] pointcloud aligned by scan matching
`points_aligned_no_ground`	`sensor_msgs::msg::PointCloud2`	[debug topic] no ground pointcloud aligned by scan matching
`initial_pose_with_covariance`	`geometry_msgs::msg::PoseWithCovarianceStamped`	[debug topic] initial pose used in scan matching
`multi_ndt_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] estimated poses from multiple initial poses in real-time covariance estimation
`multi_initial_pose`	`geometry_msgs::msg::PoseArray`	[debug topic] initial poses for real-time covariance estimation
`exe_time_ms`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] execution time for scan matching [ms]
`transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching
`no_ground_transform_probability`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] score of scan matching based on no ground LiDAR scan
`iteration_num`	`autoware_internal_debug_msgs::msg::Int32Stamped`	[debug topic] number of scan matching iterations
`initial_to_result_relative_pose`	`geometry_msgs::msg::PoseStamped`	[debug topic] relative pose between the initial point and the convergence point
`initial_to_result_distance`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the initial point and the convergence point [m]
`initial_to_result_distance_old`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
`initial_to_result_distance_new`	`autoware_internal_debug_msgs::msg::Float32Stamped`	[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
`ndt_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] markers for debugging
`monte_carlo_initial_pose_marker`	`visualization_msgs::msg::MarkerArray`	[debug topic] particles used in initial position estimation

Service

Name	Type	Description
`ndt_align_srv`	`autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped`	service to estimate initial pose

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_cppcheck
	ament_lint_auto
	ros_testing
	autoware_internal_debug_msgs
	autoware_internal_localization_msgs
	autoware_localization_util
	autoware_map_msgs
	autoware_utils_diagnostics
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_visualization
	diagnostic_msgs
	geometry_msgs
	nav_msgs
	pcl_conversions
	rclcpp
	rclcpp_components
	sensor_msgs
	std_srvs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tf2_sensor_msgs
	visualization_msgs

System Dependencies

Name
libpcl-all-dev
fmt
libpcl-all

Dependant Packages

No known dependants.

Launch files

launch/ndt_scan_matcher.launch.xml
- - param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
  - input_pointcloud [default: points_raw]
  - input_initial_pose_topic [default: ekf_pose_with_covariance]
  - input_regularization_pose_topic [default: regularization_pose_with_covariance]
  - input_service_trigger_node [default: trigger_node]
  - output_pose_topic [default: ndt_pose]
  - output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
  - client_map_loader [default: pcd_loader_service]
  - node_name [default: ndt_scan_matcher]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ndt_scan_matcher` at Robotics Stack Exchange