lidar_localization_ros2 是一个 ROS (Robot Operating System) 2 的节点,用于实现基于激光雷达(LiDAR)的3D定位。它利用 NDT/GICP (Non-Dominant Template Correlation) 和点云地图来提高定位精度。 NDT/GICP是一种基于模板匹配的技术,它可以在图像中检测到目标物体的位置和形状。在本节点中,NDT/GICP被用于从 LiDA...
pcl_localization_ros2 使用PCL的基于3D LIDAR的ROS2软件包。 绿色:路径,红色:地图(5x5网格大小为50m×50m) IO 输入/ cloud(sensor_msgs / PointCloud2) /地图(sensor_msgs / PointCloud2) / initialpose(geometry_msgs / PoseStamed)(当set_initial_pose为false时) / odom(nav_msgs / Odometry)(可选) ...
Robot localization TODO: ekf.yaml ros2 launch lidarbot_bringup lidarbot_bringup_launch.py use_robot_localization:=false Lidarbot setup To install ROS2 Humble on the Raspberry Pi, Ubuntu Server 22.04 was first flashed on a 32GB micro SD card, this process is detailed in thisguide. ...