Laser Scan Matcher for ROS

This repo is the implementation of Point-to-Line Iterative Closest Point (PL-ICP) algorithm proposed by Censi [1]. The original code can be found in [2]. However, there are some bugs about ROS tf transform in the original code. I fixed the bugs and added the mapping module following the programming habits in open karto library [3].

How to use on Ubuntu?

1. This package has been tested well in Ubuntu 16.04 with ROS Kinetic.

2. If you want to use it, you must install csm first:
    $ sudo apt-get install ros-kinetic-csm

3. Clone the repo to your workspace and complie it
    $ cd ~/catkin_ws/src/
    $ git clone https://github.com/nkuwenjian/laser_scan_matcher.git
    $ cd ../
    $ catkin_make
    $ source devel/setup.bash

4. Run offline rosbag
    $ roslaunch laser_scan_matcher demo.launch
    $ rosbag play <rosbagfile> --clock

Topics

Subscribed topics

• /scan (sensor_msgs/LaserScan)
• /tf (tf2_msgs/TFMessage)

Published topics

• /map (nav_msgs/OccupancyGrid)
• /map_metadata (nav_msgs/MapMetaData)
• /tf (tf2_msgs/TFMessage)

Thanks

[1] A. Censi, "An ICP variant using a point-to-line metric," in Proceedings of the IEEE International Conference on Robotics and Automation, 2008, pp. 19-25.

[2] https://github.com/ccny-ros-pkg/scan_tools

[3] https://github.com/ros-perception/open_karto