laser_odometry repository

Repository Summary

Checkout URI https://github.com/artivis/laser_odometry.git
VCS Type git
VCS Version master
Last Updated 2018-09-19
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
laser_odometry 0.1.0
laser_odometry_core 0.1.0
laser_odometry_node 0.1.0

README

laser_odometry

A pluginlib-based package for laser-scan matching


Package Summary

A unified Laser Odometry scheme which aims at providing a single, simple interface for different scan matcher algorithms.
With a single node to start, selecting an scan-matching algorithm is as simple as setting a parameter in a launch file !


Build Summary

Indigo Jade Kinetic Lunar
Indigo Jade kinetic lunar

Plugins

Available plugins:

Under development plugins:

  • None at this time.

Notes

  • This package is still under heavy developement thus the API is not completely stable yet.
  • For ROS distro pre-Kinetic, to properly visualize the nav_msgs/Odometry message published by the node with Rviz (that is, with its covariance), it is recommended to use the rviz_plugin_covariance (E.g. wiki Screenshot).

Documentation

Upcoming

  • More plugins, mostly correlation-based & feature-based scan matching.
  • A comparison framework to easily compare plugins.