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pcl_localization_ros2 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

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Package Summary

Tags	No category tags.
Version	0.0.1
License	BSD2.0
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

pcl_localization_ros2

Additional Links

No additional links.

Maintainers

ryohei sasaki

Authors

No additional authors.

utils/pcl_localization_ros2/README.md

pcl_localization_ros2

A ROS2 package of 3D LIDAR-based Localization using PCL.

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

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”	“NDT” or “GICP”
ndt_resolution	double	2.0	resolution size of voxels[m]
ndt_step_size	double	0.1	step_size maximum step length[m]
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 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
https://data.tier4.jp/rosbag_details/?id=212
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/pcl_localization_ros2/rviz/localization.rviz
ros2 launch pcl_localization_ros2 pcl_localization.launch.py
ros2 bag play -s rosbag_v2 tc_2017-10-15-15-34-02_free_download.bag

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

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/pointcloud_map_loader.launch.xml
- - pointcloud_map_path [default: /home/robot/autoware_universe/autoware_sim_ws/src/autoware_slam/map/lio_sam_maps]
  - pointcloud_map_loader_param_path [default: $(find-pkg-share pcl_localization_ros2)/param/pointcloud_map_loader.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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