Library dependencies:
- OpenCV
- Eigen3
Tested under ROS Indigo + Ubuntu 14.04 (but previous versions of both should be ok).
How to install:
- clone the repository in your
catkin_ws/src - run:
catkin_make
Usage: rosrun thin_scan_matcher thin_scan_matcher_node
Possible arguments:
_laser_topic:=/ros_laser_scan_topic
_published_odom_topic:=/ros_topic_for_published_odometry_based_on_scan_matching
_frame_skip:=#n (take a laser scan every #n)
_bpr:=#p (#p value should be between 0 and 1 and represents the limit percentage of points which are not correctly transformed for keeping the local map generated)
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
