odoscan

odoscan

The odoscan package provides a simple scan-matching based laser odometry system. The name "odoscan" is a mashup of the words "odometry" and "scan matching".

Dependencies

• PCL

Architecture

Odoscan revolves around a modular laser odometry pipeline, which combines cloud preprocessing filters and scan matching modules to produce body-frame velocity estimates. We opt for velocity estimates instead of pose displacements for ease of fusion with other odometry methods.

nodes

laser_odometry_node

Subscribes to point cloud topics and estimates body velocities for each with a modular laser odometry pipeline. Optionally publishes the input and aligned point clouds for debugging.

scan_converter_node

Converts raw lidar scan messages into point cloud messages. Optionally performs minimum range filtering as well.