Package to produce odometry from (2D) LiDAR data. Uses libcevicp.
There are ROS 2 dependencies, but rosdep should help you with those. As long as you clone with --recursive, the submoduled libcevicp is used automatically.
You will likely want to develop libcevicp in parallel. If you want, you can use the installed version by turning off the USE_SUBMODULE cmake option. You can also develop from within the submodule.
odom_frame- The name of the odometry frame to publish odom info with.rebase_translation_min_cm- The minimum translation required between scans to trigger an odometry update.rebase_angle_min_rad- The minimum rotation angle required between scans to trigger an odometry update.
Warning
Setting these too low may lead to small and incorrect scan deltas that, when integrated, don't produce the correct result. Setting these too high may prevent scans from matching all together.
rebase_time_min_ms- The minimum time required between scans to trigger an odometry update.
Note
Any of the rebase thresholds being passed will trigger an odometry update.
publish_tf- Publish TF data in addition to odometry messages.show_debug_scans- Publish base, transformed, and current scans to debug scan matching performance.