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Laser Scan Matcher for ROS2

Ported to ros2 version of laser-scan-matcher by scan_tools.

Installation

cd ~/ros2_ws/src
git clone git@github.com:NuTech-R/ros2_laser_scan_matcher.git
cd ros2_laser_scan_matcher
sudo rosdep update
rosdep install -r -y -i --from-paths .
git submodule update --init --recursive
cd ~/ros2_ws
colcon build --symlink-install
  • Install modified version of csmlib

Topics

Subscribed topics

Published topics

  • /tf (tf2_msgs/TFMessage) with transform odom->base_link
  • /odom (nav_msgs/Odometry) Optional. Parameter publish_odom must be set to the name of the topic. If topic is empty, odom will not be published.

Will be released features:

  • Support of pure laserscan
  • Support of IMU
  • Support of odometry
  • Support of PointCloud msgs