PointCloudLocalization

Localize 6d pose of robot using ICP registration of pointcloud. It publishes tf transformation from global frame to odometry frame like amcl does.

Subscribing Topic

• ~input (sensor_msgs/PointCloud2)

  Input pointcloud to align.

Publishing Topic

• ~output (sensor_msgs/PointCloud2)

  Concatenated pointcloud.

Parameters

• ~global_frame (String, default: map)

  Frame ID of output pointcloud.

• ~odom_frame (String, default: odom)

  Frame ID of broadcasted transform of localization.

• ~initialize_from_tf (Bool, default: false)

  Whether to initialize transform from ~initialize_tf frame.

• ~initialize_tf (String, default: odom_on_ground)

  Frame ID used for initialization of transform.

  This parameter is enabled only when ~initialize_from_tf is true.

• ~clip_unseen_pointcloud (Bool, default: false)

  Whether to filter out pointcloud which cannot be seen by a sensor.

• ~sensor_frame (String, default: BODY)

  Frame ID used for filtering pointcloud before running ICP.

  This parameter is enabled only when ~clip_unseen_pointcloud is true.

• ~tf_rate (Double, default: 20.0)

  Frequency to publish tf transformations [Hz].

• ~cloud_rate (Double, default: 10.0)

  Frequency to publish ~output topic [Hz].

• ~leaf_size (Double, default: 0.01)

  Resolution of voxel grid downsampling in meters.

• ~use_normal (Bool, default: false)

  Support normal field in ~input pointcloud.

Internally Using Services

• ~icp_align (jsk_pcl_ros/ICPAlign)

  ICP service to align pointcloud

Advertising Services

• ~localize (std_srvs/Empty)

  Run localization

• ~update_offset (jsk_recognition_msgs/UpdateOffset)

  Update transformation between odom frame and global frame manuaaly. Currently no tf is resolved.

Sample

roslaunch jsk_pcl_ros sample_pointcloud_localization.launch