[ros-users] Laser Scan Matchers - release

[Isaac Isao Saito-Yanagisawa]

Hello ROS walkers,

CCNY's laser-related utility, scan_tools[1], has been in source space
for 5 years since ROS Electric episode. Now it strikes back in the
binary galaxy!

Please see REAME for the installation.
https://github.com/ccny-ros-pkg/scan_tools/blob/indigo/README.md

**Those who build from source** are advised to adjust to the way
suggested in README above; recent work changed the way how one of the
depended libraries gets built (*1).

Credit goes to Kei Okada, Carlos Jaramillo for release work, Andrea
Censi for providing help for his CSM library, and Ivan Dryanovski for
the original creation of these ROS packages.

Enjoy,
Isaac

*1...To build one of the included package, laser_scan_matcher[2], its
dependency CSM[3] used to be downloaded and built during the build
time. Upon a trial to conform to ROS buildfarm usage, it's now
separated and released as a "3rd party package"[4].

[1] http://wiki.ros.org/scan_tools
[2] http://wiki.ros.org/laser_scan_matcher
[3] http://wiki.ros.org/csm
[4] http://www.ros.org/reps/rep-0136.html



On Wed, Sep 1, 2010 at 9:44 PM, Ivan Dryanovski
<ivan.dryanovski at gmail.com> wrote:
> Dear ROS-Users,
>
> The CCNY Robotics Lab is pleased to announce the release of two
> packages for laser scan registration. canonical_scan_matcher is a
> wrapper around Andrea Censi's "Canonical Scan Matcher" [1].
> polar_scan_matching is a wrapper around Albert Diosi's "Polar Scan
> Matching" [2].
>
> Both packages estimate the displacement of a robot by comparing
> consecutive Laser Scan messages. They can be used without providing
> any estimate for the displacement of the robot between the scans. In
> this way, they can serve as an odometric estimate for robots that
> don't have any other odometric system. Alternatively, a displacement
> estimate can be provided as input to the scan matchers, in the form of
> an Imu message or a tf transform, in order to produce better (or
> faster) scan matching results.
>
> While the two scan matchers use different algorithms and parameters,
> the ROS wrappers are identical in terms of topics/frames/tf's, making
> the two packages interchangeable.
>
> Documentation and usage instructions can be found at the respective wiki pages:
>
>  * http://www.ros.org/wiki/canonical_scan_matcher
>  * http://www.ros.org/wiki/polar_scan_matcher
>
> As usual, we have provided a small demo bag file with laser data and a
> launch file that can be used to view the packages in action. Each wiki
> page also has a video of what the output of the demo should look like.
>
> We hope you find the scan matchers useful, and we extend our thanks to
> the authors of the original implementations.
>
> Ivan Dryanovski
> William Morris
> The CCNY Robotics Lab
> http://robotics.ccny.cuny.edu
>
>
> [1] A. Censi, "An ICP variant using a point-to-line metric"
> Proceedings of the IEEE International Conference on Robotics and
> Automation (ICRA), 2008
> [2] A. Diosi and L. Kleeman, "Laser Scan Matching in Polar Coordinates
> with Application to SLAM " Proceedings of 2005 IEEE/RSJ International
> Conference on Intelligent Robots and Systems, August, 2005, Edmonton,
> Canada
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users