hatakeyamayuta/pcl_localization_ros2

3D LIDAR-based Localization using PCL NDT/GICP and Point Cloud Map in ROS 2 Package (Not SLAM)

pcl_localization_ros2

A ROS2 package of 3D LIDAR-based Localization using PCL.

Green: path, Red: map
(the 5x5 grids in size of 50m × 50m)

IO

• input
  /cloud (sensor_msgs/PointCloud2)
  /map (sensor_msgs/PointCloud2)
  /initialpose (geometry_msgs/PoseStamed)(when set_initial_pose is false)
  /odom (nav_msgs/Odometry)(optional)
  /imu (sensor_msgs/Imu)(optional)

• output
  /pcl_pose (geometry_msgs/PoseStamped)
  /path (nav_msgs/Path)
  /initial_map (sensor_msgs/PointCloud2)(when use_pcd_map is true)

params

Name	Type	Default value	Description
registration_method	string	"NDT"	"NDT" or "GICP"
ndt_resolution	double	2.0	resolution size of voxels[m]
ndt_step_size	double	0.1	step_size maximum step length[m]
transform_epsilon	double	0.01	transform epsilon to stop iteration in registration
voxel_leaf_size	double	0.2	down sample size of input cloud[m]
scan_max_range	double	100.0	max range of input cloud[m]
scan_min_range	double	1.0	min range of input cloud[m]
scan_periad	double	0.1	scan period of input cloud[sec]
use_pcd_map	bool	false	whether pcd_map is used or not
map_path	string	"/map/map.pcd"	pcd_map file path
set_initial_pose	bool	false	whether or not to set the default value in the param file
initial_pose_x	double	0.0	x-coordinate of the initial pose value[m]
initial_pose_y	double	0.0	y-coordinate of the initial pose value[m]
initial_pose_z	double	0.0	z-coordinate of the initial pose value[m]
initial_pose_qx	double	0.0	Quaternion x of the initial pose value
initial_pose_qy	double	0.0	Quaternion y of the initial pose value
initial_pose_qz	double	0.0	Quaternion z of the initial pose value
initial_pose_qw	double	1.0	Quaternion w of the initial pose value
use_odom	bool	false	whether odom is used or not for initial attitude in point cloud registration
use_imu	bool	false	whether 9-axis imu is used or not for point cloud distortion correction
enable_debug	bool	false	whether debug is done or not

demo

demo data(ROS1) by Tier IV
https://data.tier4.jp/rosbag_details/?id=212
The Velodyne VLP-16 was used in this data.

Before running, put bin_tc-2017-10-15-ndmap.pcd into your map directory and
edit the map_path parameter of localization.yaml in the param directory accordingly.

rviz2 -d src/pcl_localization_ros2/rviz/localization.rviz
ros2 launch pcl_localization_ros2 pcl_localization.launch.py
ros2 bag play -s rosbag_v2 tc_2017-10-15-15-34-02_free_download.bag

Green: path, Red: map
(the 5x5 grids in size of 50m × 50m)