nonlinear1 / ndt_mapping

ROS1 package of localization and mapping in Autoware

ndt_mapping

This is the exraction of the mapping from the Autoware
I have no copyright on this software and the license is governed by autoware.

Overview

ndt_mapping package

IO

ndt_mapping

• input
  /points_raw (sensor_msgs/PointCloud2)
• output
  /ndt_map (sensor_msgs/PointCloud2)
  /curent_pose (geometry_msgs/PoseStamped)

ndt_matching

• input
  /filtered_points (sensor_msgs/PointCloud2)
  /points_map (sensor_msgs/PointCloud2)
  /initialpose (geometry_msgs/PoseWithCovarianceStamped)

• output
  /curent_pose (geometry_msgs/PoseStamped)

Parameter

ndt

Name	Type	Description	Default value
max_iter	int	max iteration for alignment	25
step_size	double	step_size maximum step length[m]	0.1
ndt_res	double	resolution side length of voxels[m]	1.0
transform_epsilon	double	transform epsilon to stop iteration	0.1
voxel_leaf_size	double	a down sample size of a input cloud[m]	0.2

ndt_mapping

Name	Type	Description	Default value
min_add_scan_shift	double	a moving distance of a map update[m]	1.5

Usage

Mapping

rviz -d src/ndt_mapping/config/mapping.rviz

roslaunch ndt_mapping ndt_mapping.launch

to save a map

rosrun pcl_ros pointcloud_to_pcd input:=/ndt_map prefix:=map

Matching

rviz -d src/ndt_mapping/config/matching.rviz

roslaunch ndt_mapping ndt_matching.launch

rostopic pub /initialpose geometry_msgs/PoseWithCovarianceStamped '{header:{frame_id: "map"},pose: {pose: {position: {x: 0, y: 0, z: 0}, orientation: {z: 0, w: 1}}}}'

rosrun pcl_ros pcd_to_pointcloud map_0.pcd /cloud_pcd:=/points_map _frame_id:=map