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Implement 2D NDT-MCL ROS 2 node #312

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hidmic opened this issue Feb 9, 2024 · 0 comments · Fixed by #347
Closed

Implement 2D NDT-MCL ROS 2 node #312

hidmic opened this issue Feb 9, 2024 · 0 comments · Fixed by #347
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@Alondruck @serraramiro1
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cpp Related to C++ code enhancement New feature or request ros Related to ROS

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@hidmic
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hidmic commented Feb 9, 2024

Feature description

Connected to #93. Depends on #311. Precisely what the title says. Implement a ROS 2 node for 2D localization by feeding laser scans and a map to a 2D-NDT sensor model. Use a planar lidar on a Kobuki robot (in simulation or in the real-world) to test it.
@hidmic hidmic added enhancement New feature or request cpp Related to C++ code ros Related to ROS labels Feb 9, 2024
@hidmic hidmic changed the title Implement Beluga 2D NDT-MCL ROS 2 node Implement 2D NDT-MCL ROS 2 node Feb 9, 2024
@hidmic hidmic mentioned this issue Feb 9, 2024
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@Alondruck Alondruck mentioned this issue Apr 22, 2024
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@serraramiro1 serraramiro1 mentioned this issue May 7, 2024
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serraramiro1 added a commit that referenced this issue May 10, 2024
@serraramiro1
Add NDT AMCL node and tests. (#347)
952eb30 
### Proposed changes

Adds a new node to leverage the NDT sensor model.
Closes #312 

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Signed-off-by: Ramiro Serra <[email protected]>
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Add NDT AMCL node and tests. Ekumen-OS/beluga
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@hidmic @Alondruck @serraramiro1