ROS Index
Repository Summary
| Description | A bridge between norlab_icp_mapper and ROS |
| Checkout URI | https://github.com/norlab-ulaval/norlab_icp_mapper_ros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-06-25 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| norlab_icp_mapper_ros | 2.1.1 |
README
norlab_icp_mapper_ros
A bridge between norlab_icp_mapper and ROS. Check the mapper’s documentation for a detailed guide.
Node Parameters
| Name | Description | Possible values | Default Value |
|---|---|---|---|
| odom_frame | Frame used for odometry. | Any string | “odom” |
| robot_frame | Frame centered on the robot. | Any string | “base_link” |
| mapping_config | Path to the file containing the mapping config. | Any file path | ”” |
| initial_map_file_name | Path of the file from which the initial map is loaded. | Any file path | ”” |
| initial_robot_pose | Transformation matrix in homogeneous coordinates describing the initial pose of the robot in the map frame. | Any matrix of dimension 3 or 4 | ”[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]” |
| final_map_file_name | Path of the file in which the final map is saved when is_online is false. | Any file path | “map.vtk” |
| final_trajectory_file_name | Path of the file in which the final trajectory is saved when is_online is false. | Any file path | “trajectory.vtk” |
| map_publish_rate | Rate at which the map is published (in Hertz). It can be slower depending on the map update rate. | (0, ∞) | 10.0 |
| map_tf_publish_rate | Rate at which the map tf is published (in Hertz). | (0, ∞) | 10.0 |
| max_idle_time | Delay to wait being idle before shutting down ROS when is_online is false (in seconds). | [0, ∞) | 10.0 |
| is_mapping | true when map updates are wanted, false when only localization is wanted. | {true, false} | true |
| localizing | true when localization updates are wanted, false when localization is unwanted (relocalization in map). | {true, false} | true |
| is_online | true when online mapping is wanted, false otherwise. | {true, false} | true |
| is_3D | true when a 3D sensor is used, false when a 2D sensor is used. | {true, false} | true |
| save_map_cells_on_hard_drive | true when map cell storage on hard drive is wanted, false when map cell storage in RAM is wanted. | {true, false} | true |
| publish_tfs_between_registrations | When false, the map tf is published only after registration. Otherwise with map_tf_publish_rate. | {true, false} | true |
| deskew | Set to true if you want to apply motion compensation on the input point cloud. | {true, false} | true |
| expected_unique_deskewing_TF_number | How much memory should we reserve for the per-point transformations. | A positive integer | 4000 |
| deskewing_round_to_nanosecs | How much should each point’s timestamp be rounded for deskewing transformation search. | A positive integer | 50000 |
Dynamic Node Parameters
These parameters can be changed at runtime using the ROS parameter server.
| Name | Description | Possible values | Default Value |
|---|---|---|---|
| compression_voxel_size | Size of a voxel in the octree tree of the output map point cloud message. 0=disabled | A non-negative double | 0.5 |
Node Topics
| Name | Description |
|---|---|
| points_in | Topic from which the input points are retrieved. |
| map | Topic in which the map is published. |
| icp_odom | Topic in which the corrected odometry is published. |
| scan_after_input_filters | The input scan, after all input filters are applied. |
| scan_after_deskew | The input scan, after all input filters and deskewing are applied. |
| pose_in | Topic from which the pose is retrieved to relocalize. |
Node Services
| Name | Description | Parameter Name | Parameter Description |
|---|---|---|---|
| save_map | Saves the current map. | filename | Path of the file in which the map is saved. |
| save_trajectory | Saves the current trajectory. | filename | Path of the file in which the trajectory is saved. |
| reload_yaml_config | Reload the YAML config file. | ||
| enable_mapping | Enables the mapping (If localization is disabled, it enables it too). | ||
| disable_mapping | Disables the mapping. | ||
| enable_loc | Enables the localization. | ||
| disable_loc | Disables the localization (If mapping is enabled, it disables it too). |
Mapper Node Graph
```mermaid flowchart LR
/mapper_node[ /mapper_node ]:::main
/points_in([ /points_in
sensor_msgs/msg/PointCloud2 ]):::bugged
/pose_in([ /pose_in
geometry_msgs/msg/PoseWithCovarianceStamped ]):::bugged
/icp_odom([ /icp_odom
nav_msgs/msg/Odometry ]):::bugged
/map([ /map
sensor_msgs/msg/PointCloud2 ]):::bugged
/scan_after_input_filters([ /map
sensor_msgs/msg/PointCloud2 ]):::bugged
/scan_after_deskew([ /map
sensor_msgs/msg/PointCloud2 ]):::bugged
/disable_mapping[/ /disable_mapping
std_srvs/srv/Empty ]:::bugged
/enable_mapping[/ /enable_mapping
std_srvs/srv/Empty ]:::bugged
/disable_loc[/ /disable_loc
std_srvs/srv/Empty ]:::bugged
/enable_loc[/ /enable_loc
std_srvs/srv/Empty ]:::bugged
/load_map[/ /load_map
norlab_icp_mapper_ros/srv/LoadMap ]:::bugged
/reload_yaml_config[/ /reload_yaml_config
std_srvs/srv/Empty ]:::bugged
/save_map[/ /save_map
norlab_icp_mapper_ros/srv/SaveMap ]:::bugged
/save_trajectory[/ /save_trajectory
norlab_icp_mapper_ros/srv/SaveTrajectory ]:::bugged
/points_in –> /mapper_node /pose_in –> /mapper_node /mapper_node –> /icp_odom /mapper_node –> /map /disable_mapping o-.-o /mapper_node /enable_mapping o-.-o /mapper_node /disable_loc o-.-o /mapper_node /enable_loc o-.-o /mapper_node /load_map o-.-o /mapper_node /reload_yaml_config o-.-o /mapper_node /save_map o-.-o /mapper_node /save_trajectory o-.-o /mapper_node
subgraph keys[Keys] subgraph nodes[] topicb((No connected)):::bugged
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