Laser Scan Matcher for ROS2

Ported to ros2 version of laser-scan-matcher by scan_tools.

Installation

cd ~/ros2_ws/src
git clone git@github.com:NuTech-R/ros2_laser_scan_matcher.git
cd ros2_laser_scan_matcher
sudo rosdep update
rosdep install -r -y -i --from-paths .
git submodule update --init --recursive
cd ~/ros2_ws
colcon build --symlink-install

• Install modified version of csmlib

Topics

Subscribed topics

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

Published topics

• /tf (tf2_msgs/TFMessage) with transform odom->base_link
• /odom (nav_msgs/Odometry) Optional. Parameter publish_odom must be set to the name of the topic. If topic is empty, odom will not be published.

Will be released features:

• Support of pure laserscan
• Support of IMU
• Support of odometry
• Support of PointCloud msgs