VLP16-ICP

This repository utilizes the Iterative Closest Points(ICP) algorithm with pointcloud data from the Velodyne Lidar VLP 16(PUCK).
The rotation matrix $R$ and translation matrix $t$ are computed using ICP method to estimate odometry.

• Input: sensor_msgs/PointCloud2, sensor_msgs/Imu
• Output: nav_msgs/Path

Result

Dataset

I used Stevens-VLP16-Dataset. you can download the dataset from the link.

Usage

My environment is Ubuntu 20.04, ROS Noetic.

1. Place your downloaded bag file in any folder. Change the directory path in launch/icp.launch

<!-- Bag file play-->
<node pkg="rosbag" type="play" name="rosbag" args="your_bag_file_path"/>

2. just launch icp.launch

roslaunch lidar_icp_python icp.launch
roslaunch lidar_icp_cpp icp.launch

Reference

• https://github.com/krishnasandeep09/ICP_Matching
• https://github.com/93won/2D_LiDAR_Odom_ICP