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https://github.com/MAPIRlab/rf2o_laser_odometry.git
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20 lines
1.1 KiB
XML
20 lines
1.1 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">
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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="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="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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