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Package symbol

ndt_scan_matcher package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Kento Yabuuchi
  • Koji Minoda

Authors

  • Yamato Ando

ndt_scan_matcher

Purpose

ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

  • estimate position by scan matching
  • estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name Type Description
ekf_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped initial pose
pointcloud_map sensor_msgs::msg::PointCloud2 map pointcloud
points_raw sensor_msgs::msg::PointCloud2 sensor pointcloud
sensing/gnss/pose_with_covariance sensor_msgs::msg::PoseWithCovarianceStamped base position for regularization term

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Name Type Description
ndt_pose geometry_msgs::msg::PoseStamped estimated pose
ndt_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped estimated pose with covariance
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics
points_aligned sensor_msgs::msg::PointCloud2 [debug topic] pointcloud aligned by scan matching
points_aligned_no_ground sensor_msgs::msg::PointCloud2 [debug topic] de-grounded pointcloud aligned by scan matching
initial_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped [debug topic] initial pose used in scan matching
exe_time_ms tier4_debug_msgs::msg::Float32Stamped [debug topic] execution time for scan matching [ms]
transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching
no_ground_transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching based on de-grounded LiDAR scan
iteration_num tier4_debug_msgs::msg::Int32Stamped [debug topic] number of scan matching iterations
initial_to_result_distance tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the initial point and the convergence point [m]
initial_to_result_distance_old tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
initial_to_result_distance_new tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
ndt_marker visualization_msgs::msg::MarkerArray [debug topic] markers for debugging
monte_carlo_initial_pose_marker visualization_msgs::msg::MarkerArray [debug topic] particles used in initial position estimation

Service

Name Type Description
ndt_align_srv autoware_localization_srvs::srv::PoseWithCovarianceStamped service to estimate initial pose

Parameters

Core Parameters

Name Type Description
base_frame string Vehicle reference frame
input_sensor_points_queue_size int Subscriber queue size
trans_epsilon double The maximum difference between two consecutive transformations in order to consider convergence
step_size double The newton line search maximum step length
resolution double The ND voxel grid resolution [m]
max_iterations int The number of iterations required to calculate alignment
converged_param_type int The type of indicators for scan matching score (0: TP, 1: NVTL)
converged_param_transform_probability double Threshold for deciding whether to trust the estimation result
num_threads int Number of threads used for parallel computing

(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\]

, where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.

Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/autoware_pose_estimator.launch.xml
      • ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/autoware_ndt_scan_matcher.param.yaml]
  • launch/ndt_scan_matcher.launch.xml
      • param_file [default: $(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
      • input/pointcloud [default: /points_raw]
      • input_initial_pose_topic [default: /ekf_pose_with_covariance]
      • input_map_points_topic [default: /pointcloud_map]
      • input_regularization_pose_topic [default: /sensing/gnss/pose_with_covariance]
      • input_service_trigger_node [default: trigger_node]
      • input_ekf_odom [default: /localization/kinematic_state]
      • output_pose_topic [default: ndt_pose]
      • output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
      • client_map_loader [default: /map/get_differential_pointcloud_map]
      • node_name [default: ndt_scan_matcher]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /localization/util/downsample/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_scan_matcher at Robotics Stack Exchange

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

ndt_scan_matcher package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Kento Yabuuchi
  • Koji Minoda

Authors

  • Yamato Ando

ndt_scan_matcher

Purpose

ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

  • estimate position by scan matching
  • estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name Type Description
ekf_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped initial pose
pointcloud_map sensor_msgs::msg::PointCloud2 map pointcloud
points_raw sensor_msgs::msg::PointCloud2 sensor pointcloud
sensing/gnss/pose_with_covariance sensor_msgs::msg::PoseWithCovarianceStamped base position for regularization term

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Name Type Description
ndt_pose geometry_msgs::msg::PoseStamped estimated pose
ndt_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped estimated pose with covariance
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics
points_aligned sensor_msgs::msg::PointCloud2 [debug topic] pointcloud aligned by scan matching
points_aligned_no_ground sensor_msgs::msg::PointCloud2 [debug topic] de-grounded pointcloud aligned by scan matching
initial_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped [debug topic] initial pose used in scan matching
exe_time_ms tier4_debug_msgs::msg::Float32Stamped [debug topic] execution time for scan matching [ms]
transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching
no_ground_transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching based on de-grounded LiDAR scan
iteration_num tier4_debug_msgs::msg::Int32Stamped [debug topic] number of scan matching iterations
initial_to_result_distance tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the initial point and the convergence point [m]
initial_to_result_distance_old tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
initial_to_result_distance_new tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
ndt_marker visualization_msgs::msg::MarkerArray [debug topic] markers for debugging
monte_carlo_initial_pose_marker visualization_msgs::msg::MarkerArray [debug topic] particles used in initial position estimation

Service

Name Type Description
ndt_align_srv autoware_localization_srvs::srv::PoseWithCovarianceStamped service to estimate initial pose

Parameters

Core Parameters

Name Type Description
base_frame string Vehicle reference frame
input_sensor_points_queue_size int Subscriber queue size
trans_epsilon double The maximum difference between two consecutive transformations in order to consider convergence
step_size double The newton line search maximum step length
resolution double The ND voxel grid resolution [m]
max_iterations int The number of iterations required to calculate alignment
converged_param_type int The type of indicators for scan matching score (0: TP, 1: NVTL)
converged_param_transform_probability double Threshold for deciding whether to trust the estimation result
num_threads int Number of threads used for parallel computing

(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\]

, where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.

Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/autoware_pose_estimator.launch.xml
      • ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/autoware_ndt_scan_matcher.param.yaml]
  • launch/ndt_scan_matcher.launch.xml
      • param_file [default: $(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
      • input/pointcloud [default: /points_raw]
      • input_initial_pose_topic [default: /ekf_pose_with_covariance]
      • input_map_points_topic [default: /pointcloud_map]
      • input_regularization_pose_topic [default: /sensing/gnss/pose_with_covariance]
      • input_service_trigger_node [default: trigger_node]
      • input_ekf_odom [default: /localization/kinematic_state]
      • output_pose_topic [default: ndt_pose]
      • output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
      • client_map_loader [default: /map/get_differential_pointcloud_map]
      • node_name [default: ndt_scan_matcher]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /localization/util/downsample/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_scan_matcher at Robotics Stack Exchange

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

ndt_scan_matcher package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Kento Yabuuchi
  • Koji Minoda

Authors

  • Yamato Ando

ndt_scan_matcher

Purpose

ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

  • estimate position by scan matching
  • estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name Type Description
ekf_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped initial pose
pointcloud_map sensor_msgs::msg::PointCloud2 map pointcloud
points_raw sensor_msgs::msg::PointCloud2 sensor pointcloud
sensing/gnss/pose_with_covariance sensor_msgs::msg::PoseWithCovarianceStamped base position for regularization term

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Name Type Description
ndt_pose geometry_msgs::msg::PoseStamped estimated pose
ndt_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped estimated pose with covariance
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics
points_aligned sensor_msgs::msg::PointCloud2 [debug topic] pointcloud aligned by scan matching
points_aligned_no_ground sensor_msgs::msg::PointCloud2 [debug topic] de-grounded pointcloud aligned by scan matching
initial_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped [debug topic] initial pose used in scan matching
exe_time_ms tier4_debug_msgs::msg::Float32Stamped [debug topic] execution time for scan matching [ms]
transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching
no_ground_transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching based on de-grounded LiDAR scan
iteration_num tier4_debug_msgs::msg::Int32Stamped [debug topic] number of scan matching iterations
initial_to_result_distance tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the initial point and the convergence point [m]
initial_to_result_distance_old tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
initial_to_result_distance_new tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
ndt_marker visualization_msgs::msg::MarkerArray [debug topic] markers for debugging
monte_carlo_initial_pose_marker visualization_msgs::msg::MarkerArray [debug topic] particles used in initial position estimation

Service

Name Type Description
ndt_align_srv autoware_localization_srvs::srv::PoseWithCovarianceStamped service to estimate initial pose

Parameters

Core Parameters

Name Type Description
base_frame string Vehicle reference frame
input_sensor_points_queue_size int Subscriber queue size
trans_epsilon double The maximum difference between two consecutive transformations in order to consider convergence
step_size double The newton line search maximum step length
resolution double The ND voxel grid resolution [m]
max_iterations int The number of iterations required to calculate alignment
converged_param_type int The type of indicators for scan matching score (0: TP, 1: NVTL)
converged_param_transform_probability double Threshold for deciding whether to trust the estimation result
num_threads int Number of threads used for parallel computing

(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\]

, where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.

Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/autoware_pose_estimator.launch.xml
      • ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/autoware_ndt_scan_matcher.param.yaml]
  • launch/ndt_scan_matcher.launch.xml
      • param_file [default: $(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
      • input/pointcloud [default: /points_raw]
      • input_initial_pose_topic [default: /ekf_pose_with_covariance]
      • input_map_points_topic [default: /pointcloud_map]
      • input_regularization_pose_topic [default: /sensing/gnss/pose_with_covariance]
      • input_service_trigger_node [default: trigger_node]
      • input_ekf_odom [default: /localization/kinematic_state]
      • output_pose_topic [default: ndt_pose]
      • output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
      • client_map_loader [default: /map/get_differential_pointcloud_map]
      • node_name [default: ndt_scan_matcher]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /localization/util/downsample/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_scan_matcher at Robotics Stack Exchange

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

ndt_scan_matcher package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Kento Yabuuchi
  • Koji Minoda

Authors

  • Yamato Ando

ndt_scan_matcher

Purpose

ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

  • estimate position by scan matching
  • estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name Type Description
ekf_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped initial pose
pointcloud_map sensor_msgs::msg::PointCloud2 map pointcloud
points_raw sensor_msgs::msg::PointCloud2 sensor pointcloud
sensing/gnss/pose_with_covariance sensor_msgs::msg::PoseWithCovarianceStamped base position for regularization term

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Name Type Description
ndt_pose geometry_msgs::msg::PoseStamped estimated pose
ndt_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped estimated pose with covariance
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics
points_aligned sensor_msgs::msg::PointCloud2 [debug topic] pointcloud aligned by scan matching
points_aligned_no_ground sensor_msgs::msg::PointCloud2 [debug topic] de-grounded pointcloud aligned by scan matching
initial_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped [debug topic] initial pose used in scan matching
exe_time_ms tier4_debug_msgs::msg::Float32Stamped [debug topic] execution time for scan matching [ms]
transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching
no_ground_transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching based on de-grounded LiDAR scan
iteration_num tier4_debug_msgs::msg::Int32Stamped [debug topic] number of scan matching iterations
initial_to_result_distance tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the initial point and the convergence point [m]
initial_to_result_distance_old tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
initial_to_result_distance_new tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
ndt_marker visualization_msgs::msg::MarkerArray [debug topic] markers for debugging
monte_carlo_initial_pose_marker visualization_msgs::msg::MarkerArray [debug topic] particles used in initial position estimation

Service

Name Type Description
ndt_align_srv autoware_localization_srvs::srv::PoseWithCovarianceStamped service to estimate initial pose

Parameters

Core Parameters

Name Type Description
base_frame string Vehicle reference frame
input_sensor_points_queue_size int Subscriber queue size
trans_epsilon double The maximum difference between two consecutive transformations in order to consider convergence
step_size double The newton line search maximum step length
resolution double The ND voxel grid resolution [m]
max_iterations int The number of iterations required to calculate alignment
converged_param_type int The type of indicators for scan matching score (0: TP, 1: NVTL)
converged_param_transform_probability double Threshold for deciding whether to trust the estimation result
num_threads int Number of threads used for parallel computing

(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\]

, where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.

Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/autoware_pose_estimator.launch.xml
      • ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/autoware_ndt_scan_matcher.param.yaml]
  • launch/ndt_scan_matcher.launch.xml
      • param_file [default: $(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
      • input/pointcloud [default: /points_raw]
      • input_initial_pose_topic [default: /ekf_pose_with_covariance]
      • input_map_points_topic [default: /pointcloud_map]
      • input_regularization_pose_topic [default: /sensing/gnss/pose_with_covariance]
      • input_service_trigger_node [default: trigger_node]
      • input_ekf_odom [default: /localization/kinematic_state]
      • output_pose_topic [default: ndt_pose]
      • output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
      • client_map_loader [default: /map/get_differential_pointcloud_map]
      • node_name [default: ndt_scan_matcher]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /localization/util/downsample/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_scan_matcher at Robotics Stack Exchange

Package symbol

ndt_scan_matcher package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Kento Yabuuchi
  • Koji Minoda

Authors

  • Yamato Ando

ndt_scan_matcher

Purpose

ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

  • estimate position by scan matching
  • estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name Type Description
ekf_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped initial pose
pointcloud_map sensor_msgs::msg::PointCloud2 map pointcloud
points_raw sensor_msgs::msg::PointCloud2 sensor pointcloud
sensing/gnss/pose_with_covariance sensor_msgs::msg::PoseWithCovarianceStamped base position for regularization term

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Name Type Description
ndt_pose geometry_msgs::msg::PoseStamped estimated pose
ndt_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped estimated pose with covariance
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics
points_aligned sensor_msgs::msg::PointCloud2 [debug topic] pointcloud aligned by scan matching
points_aligned_no_ground sensor_msgs::msg::PointCloud2 [debug topic] de-grounded pointcloud aligned by scan matching
initial_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped [debug topic] initial pose used in scan matching
exe_time_ms tier4_debug_msgs::msg::Float32Stamped [debug topic] execution time for scan matching [ms]
transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching
no_ground_transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching based on de-grounded LiDAR scan
iteration_num tier4_debug_msgs::msg::Int32Stamped [debug topic] number of scan matching iterations
initial_to_result_distance tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the initial point and the convergence point [m]
initial_to_result_distance_old tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
initial_to_result_distance_new tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
ndt_marker visualization_msgs::msg::MarkerArray [debug topic] markers for debugging
monte_carlo_initial_pose_marker visualization_msgs::msg::MarkerArray [debug topic] particles used in initial position estimation

Service

Name Type Description
ndt_align_srv autoware_localization_srvs::srv::PoseWithCovarianceStamped service to estimate initial pose

Parameters

Core Parameters

Name Type Description
base_frame string Vehicle reference frame
input_sensor_points_queue_size int Subscriber queue size
trans_epsilon double The maximum difference between two consecutive transformations in order to consider convergence
step_size double The newton line search maximum step length
resolution double The ND voxel grid resolution [m]
max_iterations int The number of iterations required to calculate alignment
converged_param_type int The type of indicators for scan matching score (0: TP, 1: NVTL)
converged_param_transform_probability double Threshold for deciding whether to trust the estimation result
num_threads int Number of threads used for parallel computing

(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\]

, where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.

Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/autoware_pose_estimator.launch.xml
      • ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/autoware_ndt_scan_matcher.param.yaml]
  • launch/ndt_scan_matcher.launch.xml
      • param_file [default: $(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
      • input/pointcloud [default: /points_raw]
      • input_initial_pose_topic [default: /ekf_pose_with_covariance]
      • input_map_points_topic [default: /pointcloud_map]
      • input_regularization_pose_topic [default: /sensing/gnss/pose_with_covariance]
      • input_service_trigger_node [default: trigger_node]
      • input_ekf_odom [default: /localization/kinematic_state]
      • output_pose_topic [default: ndt_pose]
      • output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
      • client_map_loader [default: /map/get_differential_pointcloud_map]
      • node_name [default: ndt_scan_matcher]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /localization/util/downsample/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_scan_matcher at Robotics Stack Exchange

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

ndt_scan_matcher package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Kento Yabuuchi
  • Koji Minoda

Authors

  • Yamato Ando

ndt_scan_matcher

Purpose

ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

  • estimate position by scan matching
  • estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name Type Description
ekf_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped initial pose
pointcloud_map sensor_msgs::msg::PointCloud2 map pointcloud
points_raw sensor_msgs::msg::PointCloud2 sensor pointcloud
sensing/gnss/pose_with_covariance sensor_msgs::msg::PoseWithCovarianceStamped base position for regularization term

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Name Type Description
ndt_pose geometry_msgs::msg::PoseStamped estimated pose
ndt_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped estimated pose with covariance
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics
points_aligned sensor_msgs::msg::PointCloud2 [debug topic] pointcloud aligned by scan matching
points_aligned_no_ground sensor_msgs::msg::PointCloud2 [debug topic] de-grounded pointcloud aligned by scan matching
initial_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped [debug topic] initial pose used in scan matching
exe_time_ms tier4_debug_msgs::msg::Float32Stamped [debug topic] execution time for scan matching [ms]
transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching
no_ground_transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching based on de-grounded LiDAR scan
iteration_num tier4_debug_msgs::msg::Int32Stamped [debug topic] number of scan matching iterations
initial_to_result_distance tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the initial point and the convergence point [m]
initial_to_result_distance_old tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
initial_to_result_distance_new tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
ndt_marker visualization_msgs::msg::MarkerArray [debug topic] markers for debugging
monte_carlo_initial_pose_marker visualization_msgs::msg::MarkerArray [debug topic] particles used in initial position estimation

Service

Name Type Description
ndt_align_srv autoware_localization_srvs::srv::PoseWithCovarianceStamped service to estimate initial pose

Parameters

Core Parameters

Name Type Description
base_frame string Vehicle reference frame
input_sensor_points_queue_size int Subscriber queue size
trans_epsilon double The maximum difference between two consecutive transformations in order to consider convergence
step_size double The newton line search maximum step length
resolution double The ND voxel grid resolution [m]
max_iterations int The number of iterations required to calculate alignment
converged_param_type int The type of indicators for scan matching score (0: TP, 1: NVTL)
converged_param_transform_probability double Threshold for deciding whether to trust the estimation result
num_threads int Number of threads used for parallel computing

(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\]

, where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.

Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/autoware_pose_estimator.launch.xml
      • ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/autoware_ndt_scan_matcher.param.yaml]
  • launch/ndt_scan_matcher.launch.xml
      • param_file [default: $(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
      • input/pointcloud [default: /points_raw]
      • input_initial_pose_topic [default: /ekf_pose_with_covariance]
      • input_map_points_topic [default: /pointcloud_map]
      • input_regularization_pose_topic [default: /sensing/gnss/pose_with_covariance]
      • input_service_trigger_node [default: trigger_node]
      • input_ekf_odom [default: /localization/kinematic_state]
      • output_pose_topic [default: ndt_pose]
      • output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
      • client_map_loader [default: /map/get_differential_pointcloud_map]
      • node_name [default: ndt_scan_matcher]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /localization/util/downsample/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_scan_matcher at Robotics Stack Exchange

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

ndt_scan_matcher package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Kento Yabuuchi
  • Koji Minoda

Authors

  • Yamato Ando

ndt_scan_matcher

Purpose

ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

  • estimate position by scan matching
  • estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name Type Description
ekf_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped initial pose
pointcloud_map sensor_msgs::msg::PointCloud2 map pointcloud
points_raw sensor_msgs::msg::PointCloud2 sensor pointcloud
sensing/gnss/pose_with_covariance sensor_msgs::msg::PoseWithCovarianceStamped base position for regularization term

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Name Type Description
ndt_pose geometry_msgs::msg::PoseStamped estimated pose
ndt_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped estimated pose with covariance
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics
points_aligned sensor_msgs::msg::PointCloud2 [debug topic] pointcloud aligned by scan matching
points_aligned_no_ground sensor_msgs::msg::PointCloud2 [debug topic] de-grounded pointcloud aligned by scan matching
initial_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped [debug topic] initial pose used in scan matching
exe_time_ms tier4_debug_msgs::msg::Float32Stamped [debug topic] execution time for scan matching [ms]
transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching
no_ground_transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching based on de-grounded LiDAR scan
iteration_num tier4_debug_msgs::msg::Int32Stamped [debug topic] number of scan matching iterations
initial_to_result_distance tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the initial point and the convergence point [m]
initial_to_result_distance_old tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
initial_to_result_distance_new tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
ndt_marker visualization_msgs::msg::MarkerArray [debug topic] markers for debugging
monte_carlo_initial_pose_marker visualization_msgs::msg::MarkerArray [debug topic] particles used in initial position estimation

Service

Name Type Description
ndt_align_srv autoware_localization_srvs::srv::PoseWithCovarianceStamped service to estimate initial pose

Parameters

Core Parameters

Name Type Description
base_frame string Vehicle reference frame
input_sensor_points_queue_size int Subscriber queue size
trans_epsilon double The maximum difference between two consecutive transformations in order to consider convergence
step_size double The newton line search maximum step length
resolution double The ND voxel grid resolution [m]
max_iterations int The number of iterations required to calculate alignment
converged_param_type int The type of indicators for scan matching score (0: TP, 1: NVTL)
converged_param_transform_probability double Threshold for deciding whether to trust the estimation result
num_threads int Number of threads used for parallel computing

(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\]

, where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.

Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/autoware_pose_estimator.launch.xml
      • ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/autoware_ndt_scan_matcher.param.yaml]
  • launch/ndt_scan_matcher.launch.xml
      • param_file [default: $(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
      • input/pointcloud [default: /points_raw]
      • input_initial_pose_topic [default: /ekf_pose_with_covariance]
      • input_map_points_topic [default: /pointcloud_map]
      • input_regularization_pose_topic [default: /sensing/gnss/pose_with_covariance]
      • input_service_trigger_node [default: trigger_node]
      • input_ekf_odom [default: /localization/kinematic_state]
      • output_pose_topic [default: ndt_pose]
      • output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
      • client_map_loader [default: /map/get_differential_pointcloud_map]
      • node_name [default: ndt_scan_matcher]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /localization/util/downsample/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_scan_matcher at Robotics Stack Exchange

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

ndt_scan_matcher package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Kento Yabuuchi
  • Koji Minoda

Authors

  • Yamato Ando

ndt_scan_matcher

Purpose

ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

  • estimate position by scan matching
  • estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name Type Description
ekf_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped initial pose
pointcloud_map sensor_msgs::msg::PointCloud2 map pointcloud
points_raw sensor_msgs::msg::PointCloud2 sensor pointcloud
sensing/gnss/pose_with_covariance sensor_msgs::msg::PoseWithCovarianceStamped base position for regularization term

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Name Type Description
ndt_pose geometry_msgs::msg::PoseStamped estimated pose
ndt_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped estimated pose with covariance
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics
points_aligned sensor_msgs::msg::PointCloud2 [debug topic] pointcloud aligned by scan matching
points_aligned_no_ground sensor_msgs::msg::PointCloud2 [debug topic] de-grounded pointcloud aligned by scan matching
initial_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped [debug topic] initial pose used in scan matching
exe_time_ms tier4_debug_msgs::msg::Float32Stamped [debug topic] execution time for scan matching [ms]
transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching
no_ground_transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching based on de-grounded LiDAR scan
iteration_num tier4_debug_msgs::msg::Int32Stamped [debug topic] number of scan matching iterations
initial_to_result_distance tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the initial point and the convergence point [m]
initial_to_result_distance_old tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
initial_to_result_distance_new tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
ndt_marker visualization_msgs::msg::MarkerArray [debug topic] markers for debugging
monte_carlo_initial_pose_marker visualization_msgs::msg::MarkerArray [debug topic] particles used in initial position estimation

Service

Name Type Description
ndt_align_srv autoware_localization_srvs::srv::PoseWithCovarianceStamped service to estimate initial pose

Parameters

Core Parameters

Name Type Description
base_frame string Vehicle reference frame
input_sensor_points_queue_size int Subscriber queue size
trans_epsilon double The maximum difference between two consecutive transformations in order to consider convergence
step_size double The newton line search maximum step length
resolution double The ND voxel grid resolution [m]
max_iterations int The number of iterations required to calculate alignment
converged_param_type int The type of indicators for scan matching score (0: TP, 1: NVTL)
converged_param_transform_probability double Threshold for deciding whether to trust the estimation result
num_threads int Number of threads used for parallel computing

(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\]

, where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.

Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/autoware_pose_estimator.launch.xml
      • ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/autoware_ndt_scan_matcher.param.yaml]
  • launch/ndt_scan_matcher.launch.xml
      • param_file [default: $(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
      • input/pointcloud [default: /points_raw]
      • input_initial_pose_topic [default: /ekf_pose_with_covariance]
      • input_map_points_topic [default: /pointcloud_map]
      • input_regularization_pose_topic [default: /sensing/gnss/pose_with_covariance]
      • input_service_trigger_node [default: trigger_node]
      • input_ekf_odom [default: /localization/kinematic_state]
      • output_pose_topic [default: ndt_pose]
      • output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
      • client_map_loader [default: /map/get_differential_pointcloud_map]
      • node_name [default: ndt_scan_matcher]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /localization/util/downsample/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_scan_matcher at Robotics Stack Exchange

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

ndt_scan_matcher package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ndt_scan_matcher package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Kento Yabuuchi
  • Koji Minoda

Authors

  • Yamato Ando

ndt_scan_matcher

Purpose

ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

  • estimate position by scan matching
  • estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

Name Type Description
ekf_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped initial pose
pointcloud_map sensor_msgs::msg::PointCloud2 map pointcloud
points_raw sensor_msgs::msg::PointCloud2 sensor pointcloud
sensing/gnss/pose_with_covariance sensor_msgs::msg::PoseWithCovarianceStamped base position for regularization term

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Name Type Description
ndt_pose geometry_msgs::msg::PoseStamped estimated pose
ndt_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped estimated pose with covariance
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics
points_aligned sensor_msgs::msg::PointCloud2 [debug topic] pointcloud aligned by scan matching
points_aligned_no_ground sensor_msgs::msg::PointCloud2 [debug topic] de-grounded pointcloud aligned by scan matching
initial_pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped [debug topic] initial pose used in scan matching
exe_time_ms tier4_debug_msgs::msg::Float32Stamped [debug topic] execution time for scan matching [ms]
transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching
no_ground_transform_probability tier4_debug_msgs::msg::Float32Stamped [debug topic] score of scan matching based on de-grounded LiDAR scan
iteration_num tier4_debug_msgs::msg::Int32Stamped [debug topic] number of scan matching iterations
initial_to_result_distance tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the initial point and the convergence point [m]
initial_to_result_distance_old tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m]
initial_to_result_distance_new tier4_debug_msgs::msg::Float32Stamped [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m]
ndt_marker visualization_msgs::msg::MarkerArray [debug topic] markers for debugging
monte_carlo_initial_pose_marker visualization_msgs::msg::MarkerArray [debug topic] particles used in initial position estimation

Service

Name Type Description
ndt_align_srv autoware_localization_srvs::srv::PoseWithCovarianceStamped service to estimate initial pose

Parameters

Core Parameters

Name Type Description
base_frame string Vehicle reference frame
input_sensor_points_queue_size int Subscriber queue size
trans_epsilon double The maximum difference between two consecutive transformations in order to consider convergence
step_size double The newton line search maximum step length
resolution double The ND voxel grid resolution [m]
max_iterations int The number of iterations required to calculate alignment
converged_param_type int The type of indicators for scan matching score (0: TP, 1: NVTL)
converged_param_transform_probability double Threshold for deciding whether to trust the estimation result
num_threads int Number of threads used for parallel computing

(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\]

, where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.

Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/autoware_pose_estimator.launch.xml
      • ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/autoware_ndt_scan_matcher.param.yaml]
  • launch/ndt_scan_matcher.launch.xml
      • param_file [default: $(find-pkg-share ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
      • input/pointcloud [default: /points_raw]
      • input_initial_pose_topic [default: /ekf_pose_with_covariance]
      • input_map_points_topic [default: /pointcloud_map]
      • input_regularization_pose_topic [default: /sensing/gnss/pose_with_covariance]
      • input_service_trigger_node [default: trigger_node]
      • input_ekf_odom [default: /localization/kinematic_state]
      • output_pose_topic [default: ndt_pose]
      • output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
      • client_map_loader [default: /map/get_differential_pointcloud_map]
      • node_name [default: ndt_scan_matcher]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /localization/util/downsample/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ndt_scan_matcher at Robotics Stack Exchange