Skip to content

Latest commit

 

History

History
41 lines (28 loc) · 849 Bytes

README.md

File metadata and controls

41 lines (28 loc) · 849 Bytes
Raw

NDT C++

Minimum NDT

IMG_0040.MOV

RUN

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/kazu-321/ndt_cpp_ros2.git
cd ~/ros2_ws
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash
ros2 run ndt_cpp_ros2 ndt_cpp_ros2

IO

Input

  • /input/scan: sensor_msgs::msg::LaserScan
  • /input/map : nav_msgs::msg::OccupancyGrid

Output

  • /output/pose: geometry_msgs::msg::PoseStamped
  • /tf:

LICENSE

NDT C++ specific code is distributed under Apache2.0 License. The following extensions are included (*.cpp *.md)

NDT C++ specific data are distributed under MIT License. The following extensions are included (*.txt)