# ndt_mapping

**Repository Path**: liuzheng89/ndt_mapping

## Basic Information

- **Project Name**: ndt_mapping
- **Description**: clone自https://github.com/rsasaki0109/ndt_mapping.git, 增加了一些自己的需求
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 2
- **Created**: 2021-07-12
- **Last Updated**: 2021-08-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

ndt_mapping
====
![CI](https://github.com/rsasaki0109/ndt_mapping/workflows/Melodic/badge.svg)  
This is the exraction of the mapping from the [Autoware](https://github.com/autowarefoundation/autoware)  
I have no copyright on this software and the license is governed by autoware.
## Overview
ndt_mapping package

## IO
ndt_mapping 
- input  
/points_raw (sensor_msgs/PointCloud2)  
- output  
/ndt_map (sensor_msgs/PointCloud2)  
/curent_pose (geometry_msgs/PoseStamped) 

ndt_matching  
- input   
/filtered_points (sensor_msgs/PointCloud2)  
/points_map (sensor_msgs/PointCloud2)  
/initialpose (geometry_msgs/PoseWithCovarianceStamped)   

- output  
/curent_pose (geometry_msgs/PoseStamped)  

## Parameter

ndt

|Name|Type|Description|Default value|
|:---|:---|:---|:---|
|max_iter|int|max iteration for alignment |25|
|step_size|double|step_size maximum step length[m]|0.1|
|ndt_res|double|resolution side length of voxels[m]|1.0|
|transform_epsilon|double|transform epsilon to stop iteration|0.1|
|voxel_leaf_size|double|a down sample size of a input cloud[m]|0.2|

ndt_mapping 

|Name|Type|Description|Default value|
|:---|:---|:---|:---|
|min_add_scan_shift|double|a moving distance of a map update[m]|1.5|

## Usage
### Mapping 

```
rviz -d src/ndt_mapping/config/mapping.rviz
```

```
roslaunch ndt_mapping ndt_mapping.launch
```

to save a map

```
rosrun pcl_ros pointcloud_to_pcd input:=/ndt_map prefix:=map
```

### Matching

```
rviz -d src/ndt_mapping/config/matching.rviz
```


```
roslaunch ndt_mapping ndt_matching.launch
```

```
rostopic pub /initialpose geometry_msgs/PoseWithCovarianceStamped '{header:{frame_id: "map"},pose: {pose: {position: {x: 0, y: 0, z: 0}, orientation: {z: 0, w: 1}}}}'
```

```
rosrun pcl_ros pcd_to_pointcloud map_0.pcd /cloud_pcd:=/points_map _frame_id:=map
```