开源软件名称（OpenSource Name）： rsasaki0109/pcl_localization_ros2开源软件地址(OpenSource Url)： https://github.com/rsasaki0109/pcl_localization_ros2开源编程语言(OpenSource Language)：
C++
85.5%
开源软件介绍(OpenSource Introduction)：
Green: path, Red: map
inputset_initial_pose is false)
outputuse_pcd_map is true)
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 data(ROS1) by Tier IVhttps://data.tier4.jp/rosbag_details/?id=212
Before running, put bin_tc-2017-10-15-ndmap.pcd into your map directory andmap_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
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