hdl-localization-ROS2 (humble, without Docker)

[ROS2 humble] HDL 3D LiDAR localization package

The following package is a version of hdl-localization-ROS2 built for the Humble distribution without using Docker. You can refer to the original hdl localization repository for a detailed explanation of the ROS1 version.

Test Environment

| ROS | Humble | | lidar | velodyne VLP-16 | | imu | xsens mti-610, ebimu |

TO DO

To use your own data, modify the path to the .pcd file, Imu topic, and Lidar topic in the file hdl-localization-ROS2/hdl_localization/launch/hdl_localization_2.launch.py.

You can make the changes as shown below:

  points_topic = LaunchConfiguration('points_topic', default='/velodyne_points')
    odom_child_frame_id = LaunchConfiguration('odom_child_frame_id', default='velodyne')
    imu_topic = LaunchConfiguration('imu_topic', default='/imu/data')
    globalmap_pcd = DeclareLaunchArgument('globalmap_pcd', default_value='/home/path/of/map.pcd', description='Path to the global map PCD file')

Also, be sure to update the 'remappings' section accordingly:

('/velodyne_points', points_topic),('/imu/data', imu_topic) 

Build & Run

sudo apt install libpcap-dev
sudo apt install libpcl* pcl-tools
sudo apt install ros-humble-pcl-ros

cd </your_ws/src>
git clone https://github.com/lee-sunkyoung/hdl-localization-ROS2
cd ..
colcon build --symlink-install

ros2 launch hdl_localization hdl_localization_2.launch.py

Acknowledgement

• DataspeedInc/hdl_localization
• DataspeedInc/hdl_global_localization
• DataspeedInc/fast_gicp
• tier4/ndt_omp