Localize 6d pose of robot using ICP registration of pointcloud. It publishes tf transformation from gloabl frame to odometory frame like acml does.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud to align.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

    Concatenated pointcloud.


  • ~tf_rate (Double, default: 20.0)

    Frequency to publish tf transformations.

  • ~cloud_rate (Double, default: 10.0)

    Frequency to publish ~output topic.

  • ~leaf_size (Double, default: 0.01)

    Resolution of voxel grid downsampling.

  • ~use_normal (Bool, default: false)

    Support normal.

Using Services

  • ~icp_align (jsk_pcl_ros/ICPAlign)

    ICP service to align pointcloud

Advertising Services

  • ~localize (std_srvs/Empty)

    Run localization

  • ~update_offset (jsk_pcl_ros/UpdateOffset)

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