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lidar_localization_ros2 package from lidar_localization_ros2 repo

lidar_localization_ros2

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.1
License	BSD2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	3D LIDAR Localization using NDT/GICP and pointcloud map in ROS 2 (Not SLAM)
Checkout URI	https://github.com/rsasaki0109/lidar_localization_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	localization lidar pcl ndt ros2 gicp
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

lidar_localization_ros2

Additional Links

No additional links.

Maintainers

ryohei sasaki

Authors

No additional authors.

README.md

lidar_localization_ros2

A ROS2 package of 3D LIDAR-based Localization.

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

Requirements

ndt_omp_ros2

IO

input
/cloud (sensor_msgs/PointCloud2)
/map (sensor_msgs/PointCloud2)
/initialpose (geometry_msgs/PoseStamed)(when set_initial_pose is false)
/odom (nav_msgs/Odometry)(optional)
/imu (sensor_msgs/Imu)(optional)
output
/pcl_pose (geometry_msgs/PoseStamped)
/path (nav_msgs/Path)
/initial_map (sensor_msgs/PointCloud2)(when use_pcd_map is true)

params

Name	Type	Default value	Description
registration_method	string	“NDT_OMP”	“NDT” or “GICP” or “NDT_OMP” or “GICP_OMP”
score_threshold	double	2.0	registration score threshold
ndt_resolution	double	2.0	resolution size of voxels[m]
ndt_step_size	double	0.1	step_size maximum step length[m]
ndt_num_threads	int	4	threads using NDT_OMP(if `0` is set, maximum alloawble threads are used.)
transform_epsilon	double	0.01	transform epsilon to stop iteration in registration
voxel_leaf_size	double	0.2	down sample size of input cloud[m]
scan_max_range	double	100.0	max range of input cloud[m]
scan_min_range	double	1.0	min range of input cloud[m]
scan_periad	double	0.1	scan period of input cloud[sec]
use_pcd_map	bool	false	whether pcd_map is used or not
map_path	string	“/map/map.pcd”	pcd_map or ply_map file path
set_initial_pose	bool	false	whether or not to set the default value in the param file
initial_pose_x	double	0.0	x-coordinate of the initial pose value[m]
initial_pose_y	double	0.0	y-coordinate of the initial pose value[m]
initial_pose_z	double	0.0	z-coordinate of the initial pose value[m]
initial_pose_qx	double	0.0	Quaternion x of the initial pose value
initial_pose_qy	double	0.0	Quaternion y of the initial pose value
initial_pose_qz	double	0.0	Quaternion z of the initial pose value
initial_pose_qw	double	1.0	Quaternion w of the initial pose value
use_odom	bool	false	whether odom is used or not for initial attitude in point cloud registration
use_imu	bool	false	whether 9-axis imu is used or not for point cloud distortion correction
enable_debug	bool	false	whether debug is done or not

demo

demo data(ROS1) by Tier IV（The link has changed and is now broken.)
https://data.tier4.jp/rosbag_details/?id=212
To use ros1 rosbag , use rosbags.
The Velodyne VLP-16 was used in this data.

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

rviz2 -d src/lidar_localization_ros2/rviz/localization.rviz
ros2 launch lidar_localization_ros2 lidar_localization.launch.py
ros2 bag play tc_2017-10-15-15-34-02_free_download/

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

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclcpp_lifecycle
	lifecycle_msgs
	geometry_msgs
	sensor_msgs
	nav_msgs
	tf2_ros
	tf2_sensor_msgs
	tf2_geometry_msgs
	tf2_eigen
	pcl_conversions
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ros_testing
	launch
	ndt_omp_ros2

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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