localizer

Requirement

• ros (melodic or noetic)
• PCL 1.8
• ndt_omp

Runtime requirements

• tf from robot base frame (e.g. base_link) to sensor frame (e.g. velodyne)

Nodes

map_matcher

Published topics

• /ndt_pose (geometry_msgs/PoseStamped)
  • aligned pose
• /cloud/aligned (sensor_msgs/PointCloud2)
  • scan_cloud aligned by NDT (for debug)
• /map_cloud/downsampled (sensor_msgs/PointCloud2)
  • map_cloud downsamped by VoxelGridFilter (for debug)

Subscribed topics

• /scan_cloud (sensor_msgs/PointCloud2)
  • sensor data
• /map_cloud (sensor_msgs/PointCloud2)
  • map data
• /estimated_pose (geometry_msgs/PoseWithCovarianceStamped)
  • used to set init_guess for NDT

ndt_odom_integrator

Published topics

• /estimated_pose (geometry_msgs/PoseWithCovarianceStamped)
  • the output of this localizer

Subscribed topics

• /imu/data (sensor_msgs/Imu)
• /odom (nav_msgs/Odometry)
• /ndt_pose (geometry_msgs/PoseStamped)
  • from map_matcher node
• /map_cloud (sensor_msgs/PointCloud2)
  • used to get frame_id
• /initialpose (geometry_msgs/PoseWithCovarianceStamped)
  • used to set initial pose from rviz