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lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING

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

lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING

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

lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING

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

lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING

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

lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING

Repo symbol

lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING

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

lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING

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

lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING

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

lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING

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

lidar_graph_slam repository

graph_based_slam lidar_graph_slam lidar_graph_slam_msgs lidar_graph_slam_utils lidar_scan_matcher points_prefiltering

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/ryuyamamoto/lidar_graph_slam.git
VCS Type git
VCS Version main
Last Updated 2026-06-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
graph_based_slam 0.1.0
lidar_graph_slam 0.1.0
lidar_graph_slam_msgs 0.1.0
lidar_graph_slam_utils 1.0.0
lidar_scan_matcher 0.1.0
points_prefiltering 0.1.0

README

LiDAR Graph SLAM

InProgress

https://github.com/user-attachments/assets/e2a65a66-5f91-484e-8aab-1fc81b32b6aa

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.py

3. save map

The map is saved via an action. resolution is the voxel leaf size [m] used to down-sample the dense map before saving (set 0.0 to save the dense map as-is).

ros2 action send_goal /save_map lidar_graph_slam_msgs/action/SaveMap "{resolution: 0.2, path: <MAP PATH>}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree

CONTRIBUTING