search

koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
775 stars 310 forks source link

ROS2 Support #96

Closed grassjelly closed 1 year ago

grassjelly commented 1 year ago

HI, just curious will ROS2 support be part of your roadmap? Thank you!

koide3 commented 1 year ago

I will not add a ROS2 support for this package because I'm planning to release a new localization package with ROS1/ROS2 support.

grassjelly commented 1 year ago

Thanks for your reply. Do you have a rough estimate of its release date? Looking forward. Thank you

koide3 commented 1 year ago

I expect it would be around Jan ~ Mar in 2023 (can largely vary).

grassjelly commented 1 year ago

Got it. Thank you!

Alex-Beh commented 1 year ago

@grassjelly Maybe you can check this repo for ROS2 Implementation of hdl_localization.

@koide3 May I know the difference between hdl_localization & the new coming localization package? Do you have any preprint paper for that?

grassjelly commented 1 year ago

Thanks @Alex-Beh. Have you tried this ROS2 port yet?

koide3 commented 1 year ago

@koide3 May I know the difference between hdl_localization & the new coming localization package? Do you have any preprint paper for that?

I wrote it from scratch with the tight coupling of LiDAR and IMU costs that make it extremely robust to sensor motion and degeneration. I will submit it to some conference but the manuscript has not been available yet. Stay tuned!

grassjelly commented 1 year ago

@koide3 that sounds really promising. Looking forward to the release. Do you happen to know more 3D localization algorithm that supports ROS2?

pyc5714 commented 1 year ago

@grassjelly @koide3 Did you implement the hdl_localization using this repo in ROS2??

I'm trying to get that going, but I haven't running yet because there seems to be some errrors I need to fix with the dependecy and launch file..