NDT Localization

3D Localization Package using NDT

How to use

1. Build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone git@github.com:RyuYamamoto/ndt_localization.git
git clone git@github.com:RyuYamamoto/ndt_omp.git -b ros2-galactic
git clone git@github.com:RyuYamamoto/points_map_loader.git
cd ~/ros2_ws
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO 
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. Run

source ~/ros2_ws/src/install/setup.bash
ros2 launch ndt_localization ndt_localization.launch.xml map_path:=<POINTCLOUD MAP PATH>
# open other terminal
ros2 bag play <ROSBAG FILE PATH>

related packages

• ndt_omp
• poins_map_loader