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Laser Scan Matcher for ROS2

Ported to ros2 version of laser-scan-matcher by scan_tools.

Installation

  • Install modified version of csmlib

Topics

Subscribed topics

Published topics

  • /tf (tf2_msgs/TFMessage) with transform odom->base_link
  • /odom (nav_msgs/Odometry) Optional. Parameter publish_odom must be set to the name of the topic. If topic is empty, odom will not be published.

Will be released features:

  • Support of pure laserscan
  • Support of IMU
  • Support of odometry
  • Support of PointCloud msgs