Dependecies:

install libpointmatcher from https://github.com/leggedrobotics/libpointmatcher

install pcl_ros and pcl_conversions

install pointmatcher_ros from https://github.com/leggedrobotics/pointmatcher-ros

This package provides a localization in a given map using the ICP algorithm. You can launch the program with: roslaunch icp_localization icp_node.launch. The pcd_filepath parameter in the launch file should point to the location where you stored your refrence map (pointcloud) as a .pcd file.

Notes AM:

• libnabo: Can be directly installed from source: 'git clone git://github.com/anybotics/libnabo.git'

• libpointmatcher: Can be directly installed from source: 'git clone https://github.com/leggedrobotics/pointmatcher-ros.git'

• pointmatcher_ros: Can be directly installed from source: 'git clone https://github.com/leggedrobotics/pointmatcher-ros.git'