mirror of
https://github.com/MAPIRlab/rf2o_laser_odometry.git
synced 2023-04-06 19:28:55 +08:00
d8dc993f9e
- New param to set if tf transformations are published or not (usefull when comparing different odometries) - new option to set the initial pose of the robot (from another topic). This is useful for simulation when the robot spans at pose (X,Y). - New launch file with the added params
24 lines
1.4 KiB
XML
24 lines
1.4 KiB
XML
<!--
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This node presents a fast and precise method to estimate the planar motion of a lidar
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from consecutive range scans. It is very useful for the estimation of the robot odometry from
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2D laser range measurements.
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Requirements:
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- 2D laser scan, publishing sensor_msgs::LaserScan
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- TF transform from the laser to the robot base
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-->
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<launch>
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<node pkg="rf2o_laser_odometry" type="rf2o_laser_odometry_node" name="rf2o_laser_odometry" output="screen">
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<param name="laser_scan_topic" value="/laser_scan"/> # topic where the lidar scans are being published
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<param name="odom_topic" value="/odom_rf2o" /> # topic where tu publish the odometry estimations
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<param name="publish_tf" value="false" /> # wheter or not to publish the tf::transform (base->odom)
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<param name="base_frame_id" value="/base_link"/> # frame_id (tf) of the mobile robot base. A tf transform from the laser_frame to the base_frame is mandatory
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<param name="odom_frame_id" value="/odom" /> # frame_id (tf) to publish the odometry estimations
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<param name="init_pose_from_topic" value="/base_pose_ground_truth" /> # (Odom topic) Leave empty to start at point (0,0)
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<param name="freq" value="6.0"/> # Execution frequency. See "Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach. ICRA'16"
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</node>
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</launch>
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