/ROS-Scan-Matching-Lidar

ROS node that uses ICP to match successive lidar scans for position and orientation estimates

Primary LanguageC++

ROS-Scan-Matching-Lidar

ROS node that uses ICP to match successive lidar scans for position and orientation estimates

Use:

  1. Start roscore
  2. Add 'my_project' and 'rp_lidar' to your catkin_ws, and run 'catkin_make' at top level of catkin_ws
  3. In catkin_ws, run 'source devel/setup.bash'
  4. Launch rp_lidar view with 'roslaunch rplidar_ros view_rplidar.launch'
  5. In 'my_project/src', Start Lidar subscriber node with 'python3 lidar_listener.py'