icp_ros

saperate scan as mathed with map or not

1.0 How to run

roslaunch icp_ros icp_ns.launch

if you don't want to use name space of node, remove ns="" inside launch file

scan (sensor_msgs/LaserScan)

The laser scan to compare with map

map (nav_msgs/OccupancyGrid)

default base to compare with scan data

scan_matched (sensor_msgs/PointCloud2)

laser scan data matched with map

scan_unmatched (sensor_msgs/PointCloud2)

laser scan data unmatched with map data (unknown obstacles)

odom_frame (string, default: "odom")

robot odom frame

base_laser_frame (string, default: "base_laser_link")

robot base laser link frame

map_frame (string, default: "map")

map frame

base_frame (string, default: "base_link")

robot base link

update_time (double, default: 0.0)

expected update cycle time, minimum cycle time, if set 0.0, than update when get scan

use_sim_time (boolen, default: false)

use sim time

time_threshold (double, default: 1.0)

scan time threshold

dist_upper_threshold (double, default: 1.0)

distance from map to scan point minimum threshold to saperate matched or unmatched point

icp_inlier_dist (double, default: 0.1)

icp distance form pointcloud to map point

icp_num_iter (double, default: 100)

max icp iteration count

scan_rate (double, default: 1)

expected scan rate