lidar_SLAM package #483
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lidar_SLAM package #483
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…zation and map_addition_nodes
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Added ROS2 package in src called lidar_SLAM. Contains mapping_node, localization_node, map_addition_node, localization_gpsguess, map_addition_gpsguess, and map_addition_gpsinit nodes.
ALL NODES SUBSCRIBE TO /lidar/filtered
mapping_node and map_addition_gpsinit require accurate gps signals and check for gps position accuracy. The user must drive directly forward for >5 meters after starting the node, stop when prompted, then continue mapping when prompted. These nodes currently subscribe to /gnss_gt/odometry.
map_addition_gpsguess and localization_gpsguess are the most optimal nodes for map addition and localization. They rely on a gps signal that can be highly inaccurate (+- 10 meters). They currently subscribe to /gnss/odometry. The user may begin driving in any direction as soon as the node starts, and, when mapping, will be prompted when the node is ready to save. If the node does not become ready within 10 seconds or so, restart mapping from a different location. Localization_gpsguess is currently wired to the navigator launchfile.
localization_node and map_addition_node only use lidar-based global registration. This process may take prohibitively long for large global maps.