No version for distro humble showing github. Known supported distros are highlighted in the buttons above.

lidar_lidar_calib package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Aggregates lidar pointclouds into a single merged pointcloud

Maintainers

WATonomous

Authors

No additional authors.

src/interfacing/calibration/lidar_lidar_calib/README.md

lidar_lidar_calib

LiDAR to LiDAR extrinsic calibration package. Takes a target cloud and source cloud, and computes a transform with GICP.

Note: this method requires a pretty good initial guess. This can be obtained using physical measurements. You know that you’ve made a good initial guess when this method starts to converge on a solution consistently. Further work can be made on automating finding a good initial guess with something like a Particle Filter.

Usage

This method takes in two pointcloud topics, logs and publishes a transformation between the two pointclouds. For setting configurations like initial guess and max corrospondence distance, refer to the sample config files.

Prerequisites

Make sure robot is stationary
Make sure robot is in a room that is feature-rich (that is, the room is not empty and a perfect square)

colcon build --packages-select lidar_lidar_calib
source install/setup.bash

ros2 launch lidar_lidar_calib lidar_lidar_calib.yaml

This launches two nodes, each calibrating between the center lidar of the car and one of the mirror mounted lidars.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_components
	sensor_msgs
	message_filters
	eigen3_cmake_module
	geometry_msgs
	tf2_ros
	tf2_geometry_msgs
	small_gicp_vendor
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `lidar_lidar_calib` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.