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Autoware_NDT_SLAM

Transplant NDT_SLAM Package by YamatoAndo in Autoware.AI 1.12.0 https://github.com/YamatoAndo/autoware/tree/feature/ndt_slam_for_pr/ros/src/computing/perception/localization/packages/lidar_localizer/nodes/ndt_slam

Getting Started

Dependencies

  • Ubuntu 18.04, ROS melodic
  • Cuda 10.2
  • Eigen >= 3.3.7

Installing

cd Autoware_NDT_SLAM
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Todo

  • Add loop closure detection on backend
  • Node generating Real-time waypoints for in-door navigation