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 !

• Maintainer status: maintained
• Maintainer: Jeremie Deray jeremie.deray@pal-robotics.com
• Author: Jeremie Deray jeremie.deray@pal-robotics.com
• License: Apache-2.0
• Bug / feature tracker: https://github.com/artivis/laser_odometry/issues
• Source: git https://github.com/artivis/laser_odometry.git (branch: master)

Build Summary

Indigo	Jade	Kinetic	Lunar

Plugins

Available plugins:

• laser_odometry_csm A plugin for csm
• laser_odometry_libpointmatcher A plugin for libpointmatcher
• laser_odometry_polar A plugin for the polar scan matcher
• laser_odometry_rf2o A plugin for the rf2o scan matcher

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

• The Doxygen documention is available online at codedocs.xyz/artivis/laser_odometry.
  
• Some notes about the node topics and parameters can be found in the Parameters & Topics wiki page.
  
• The overall execution scheme is summarized in the pseudo-code wiki page.
  
• To develop your own plugin, please refer to the plugin instructions wiki page.

Upcoming

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