littleslam_ros2

LittleSLAM ROS2 wrapper.

Install

cd ~/ros2_ws/src
git clone --recursive https://github.com/rsasaki0109/littleslam_ros2
cd ~/ros2_ws/
colcon build  

Run

ros2 run littleslam_ros2 littleslam_ros2  

IO

sub

• sensor_msgs::msg::LaserScan ("scan")
• odom (tf2 "base_link"->"odom")(optional,with use_odom:=true)

pub

• sensor_msgs::msg::PointCloud2 ("icp_map")
• nav_msgs::msg::Path ("path")
• nav_msgs::msg::PoseStamped ("current_pose")

Demo

data:ros.org Introduction to Working With Laser Scanner Data (using rosbags)

ros2 run littleslam_ros2 littleslam_ros2 /scan:=/base_scan
ros2 bag play Mapping1/
rviz2 -d config/demo.rviz

Reference

Masahiro Tomono,『introduction to SLAM』(in japanese)
LittleSLAM