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NVIDIA-ISAAC-ROS / isaac_ros_map_localization

NVIDIA-accelerated global localization
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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which lidars are supported? #3

Closed AndreV84 closed 1 year ago

AndreV84 commented 1 year ago

e.g. for orin devkit which lidars are supported by the package? Thanks

ashwinvkNV commented 1 year ago

The map localizer has an input of type FlatScan.msg.

Any lidar that has a ROS driver that publishes flat laser scans to a topic of type LaserScan.msg is supported. You can look at the .msg file for specifications on the input.

We have provided a node that converts from LaserScan.msg to FlatScan.msg. Example launch file here.

Also any lidar that produces a 3D point cloud of type PointCloud2.msg is supported since we provide a cuda accelerated PointCloud2.msg to FlatScan.msg converter node here.

gordongrigor commented 1 year ago

This function has been used with the SICK Microscan 3 flat laser scan, and 3D LIDAR's Hesai XT32 and Velodyne VLP16.