lidar_localization

Compact ROS 2 package for 2D LIDAR localization within a reference map with an NDT matcher.

• Publishes a PCD map (full cloud + 2D slice)
• Converts /scan to 2D PointCloud2
• Relays /odom into the map frame
• Estimates pose via NDT

maps/ should contain the reference PCD map (cf. maps/README.md)

Dependencies

This package expects your system to provide /scan, /odom and /initialpose topics.

Nodes and Launch

Launch: launch/launch_pkg.launch.py

• Starts pcd_publisher, scan_to_pcd2d, odom_ndt_relay, ndt_2d_matcher.
• Args: pcd_file, initial_tx, initial_ty, initial_theta, scan_topic, height, use_sim_time.

Topics

Inputs:

• /scan (sensor_msgs/LaserScan)
• /odom (nav_msgs/Odometry)
• /initialpose (geometry_msgs/PoseWithCovarianceStamped)

Outputs:

PCD MAP

• /localization/map/cloud (sensor_msgs/PointCloud2)
• /localization/map/cloud_2d (sensor_msgs/PointCloud2)

LOCALIZATION

• /localization/ndt/pose (geometry_msgs/PoseWithCovarianceStamped)
• /localization/ndt/pose_stamped (geometry_msgs/PoseStamped)
• /localization/ndt/reference_cloud (sensor_msgs/PointCloud2) - visualization
• /localization/ndt/aligned_scan (sensor_msgs/PointCloud2) - visualization
• /localization/ndt/transform_arrow (visualization_msgs/Marker) - visualization

ODOMETRY & LASER ADJUSTMENTS

• /localization/scan_pcd2d (sensor_msgs/PointCloud2)
• /localization/odom_ndt (nav_msgs/Odometry)