Implement launch files, integrate and visualize ndt nodes
Description
!161 (merged) implements the main executable for a p2d ndt localizer node using newton's method with a default configuration file. necessary steps must be taken to qualitatively visualize and simulate ndt.
Needs visualization support from #183 (closed).
Expected behavior
A launch file executes all the necessary components so the ndt localizer can be integrated with the simulator.
Definition of Done
-
An rviz
file is created to display the map(downsampled?) statically, current scan and a coordinate frame for thebase_link
relative to themap
frame. -
Demo configurations for the ndt node and map publisher is created -
Demo .pcd
file is added via git lfs. -
A demo launch file is created containing the following elements: -
NDT localizer node (use URDF model) -
Map publisher (With visualization enabled) -
Velodyne nodes (?) (Only when simulator isn't used) -
Ray ground filter (?) -
Voxel grid node (For downsampling the input scan) (?) -
Voxel grid node (For downsampling the dense pcd map) -
Rviz2 with the specified rviz file.
-
-
Tune the parameters -
Add a readme.md
- Bug fixes / improvements on ndt: !206 (merged)
- Demo + hacks for blockers: !166 (closed)
Edited by Joshua Whitley