polka repository

polka

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

CONTRIBUTING

polka repository

polka

ROS Distro
jazzy

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

CONTRIBUTING

polka repository

polka

ROS Distro
kilted

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	kilted
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

CONTRIBUTING

polka repository

polka

ROS Distro
lyrical

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	lyrical
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

CONTRIBUTING

polka repository

polka

ROS Distro
rolling

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	rolling
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

CONTRIBUTING

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

polka repository

polka

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

CONTRIBUTING

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

polka repository

polka

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

CONTRIBUTING

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

polka repository

polka

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

CONTRIBUTING

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

polka repository

polka

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

CONTRIBUTING

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

polka repository

polka

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/Pana1v/polka.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-23
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
polka	0.6.1

README

POLKA

Multi-LiDAR fusion node for ROS 2. Merges any mix of PointCloud2 and LaserScan sources into one cloud, one scan, or both, with per-source and output filters, IMU/odometry deskew, and CUDA when an NVIDIA GPU is present. It replaces a relay, filter, transform, merge and downsample chain.

Documentation: polka-ros.github.io

box filter deskew

Install

From apt, with CUDA built in (amd64; needs only the NVIDIA driver, falls back to CPU without a GPU):

sudo curl -fsSL https://polka-ros.github.io/polka.gpg -o /usr/share/keyrings/polka.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/polka.gpg] https://polka-ros.github.io $(. /etc/os-release && echo $VERSION_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/polka.list
sudo apt update && sudo apt install ros-${ROS_DISTRO:?source your ROS setup.bash first}-polka

From source, using the branch named after your distro:

git clone -b humble https://github.com/Pana1v/polka.git ~/ros2_ws/src/polka
cd ~/ros2_ws && colcon build --packages-select polka   # CUDA engine is built when nvcc is found

Driver versions, distro branches and details: Install.

Quick start

cp config/example_params.yaml config/my_robot.yaml   # set your topics and output_frame_id
ros2 launch polka polka.launch.py config_file:=config/my_robot.yaml

Then see Configuration.

License

Apache-2.0. The per-point deskew model is inspired by rko_lio (arXiv:2509.06593). Maintainers: MAINTAINING.md.

polka repository

ROS Distrohumble

Repository Summary

Packages

README

POLKA

Install

Quick start

License

CONTRIBUTING

polka repository

ROS Distrojazzy

Repository Summary

Packages

README

POLKA

Install

Quick start

License

CONTRIBUTING

polka repository

ROS Distrokilted

Repository Summary

Packages

README

POLKA

Install

Quick start

License

CONTRIBUTING

polka repository

ROS Distrolyrical

Repository Summary

Packages

README

POLKA

Install

Quick start

License

CONTRIBUTING

polka repository

ROS Distrorolling

Repository Summary

Packages

README

POLKA

Install

Quick start

License

CONTRIBUTING

polka repository

ROS Distrohumble

Repository Summary

Packages

README

POLKA

Install

Quick start

License

CONTRIBUTING

polka repository

ROS Distrohumble

Repository Summary

Packages

README

POLKA

Install

Quick start

License

CONTRIBUTING

polka repository

ROS Distrohumble

Repository Summary

Packages

README

POLKA

Install

Quick start

License

CONTRIBUTING

ROS Distro
humble

ROS Distro
jazzy

ROS Distro
kilted

ROS Distro
lyrical

ROS Distro
rolling

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
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ROS Distro
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