├── LICENSE ├── README.md ├── README_CN.md ├── lidar_localization ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── common │ ├── data_type.hpp │ ├── localization.hpp │ ├── transform.hpp │ ├── utility.hpp │ └── yaml_reader.hpp ├── config │ └── config.yaml ├── lidar_localization │ ├── CMakeLists.txt │ ├── include │ │ └── lidar_localization.h │ └── src │ │ └── lidar_localization.cpp ├── lidar_matcher │ ├── CMakeLists.txt │ ├── include │ │ ├── eigen_nonlinear_solver.hpp │ │ ├── lidar_matcher.h │ │ └── nonlinear_solver.hpp │ ├── src │ │ └── lidar_matcher.cpp │ └── third_party │ │ └── sophus │ │ ├── average.hpp │ │ ├── common.hpp │ │ ├── example_ensure_handler.cpp │ │ ├── geometry.hpp │ │ ├── interpolate.hpp │ │ ├── interpolate_details.hpp │ │ ├── num_diff.hpp │ │ ├── rotation_matrix.hpp │ │ ├── rxso2.hpp │ │ ├── rxso3.hpp │ │ ├── se2.hpp │ │ ├── se3.hpp │ │ ├── sim2.hpp │ │ ├── sim3.hpp │ │ ├── sim_details.hpp │ │ ├── so2.hpp │ │ ├── so3.hpp │ │ ├── spline.hpp │ │ ├── test_macros.hpp │ │ ├── types.hpp │ │ └── velocities.hpp ├── map │ └── new_map.pcd ├── node │ ├── CMakeLists.txt │ └── lidar_localization_node.cpp ├── package.xml ├── package_ros1.xml └── package_ros2.xml └── msf_localization ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── config └── loc_param.yaml ├── eskf ├── CMakeLists.txt ├── include │ ├── eskf_helper.h │ ├── eskf_interface.h │ └── type.h └── src │ ├── eskf_helper.cpp │ └── eskf_interface.cpp ├── launch └── msf_localization.launch ├── package.xml ├── package_ros1.xml ├── package_ros2.xml ├── ros1_interface ├── include │ └── ros1_interface.h └── src │ ├── ros1_interface.cpp │ └── ros1_node.cpp ├── ros2_interface ├── include │ └── ros2_interface.h └── src │ ├── ros2_interface.cpp │ └── ros2_node.cpp └── rviz ├── rviz2_config.rviz └── rviz_config.rviz /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/README.md -------------------------------------------------------------------------------- /README_CN.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/README_CN.md -------------------------------------------------------------------------------- /lidar_localization/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/.gitignore -------------------------------------------------------------------------------- /lidar_localization/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/CMakeLists.txt -------------------------------------------------------------------------------- /lidar_localization/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/LICENSE -------------------------------------------------------------------------------- /lidar_localization/common/data_type.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/common/data_type.hpp -------------------------------------------------------------------------------- /lidar_localization/common/localization.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/common/localization.hpp -------------------------------------------------------------------------------- /lidar_localization/common/transform.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/common/transform.hpp -------------------------------------------------------------------------------- /lidar_localization/common/utility.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/common/utility.hpp -------------------------------------------------------------------------------- /lidar_localization/common/yaml_reader.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/common/yaml_reader.hpp -------------------------------------------------------------------------------- /lidar_localization/config/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/config/config.yaml -------------------------------------------------------------------------------- /lidar_localization/lidar_localization/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_localization/CMakeLists.txt -------------------------------------------------------------------------------- /lidar_localization/lidar_localization/include/lidar_localization.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_localization/include/lidar_localization.h -------------------------------------------------------------------------------- /lidar_localization/lidar_localization/src/lidar_localization.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_localization/src/lidar_localization.cpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/CMakeLists.txt -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/include/eigen_nonlinear_solver.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/include/eigen_nonlinear_solver.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/include/lidar_matcher.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/include/lidar_matcher.h -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/include/nonlinear_solver.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/include/nonlinear_solver.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/src/lidar_matcher.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/src/lidar_matcher.cpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/average.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/average.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/common.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/common.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/example_ensure_handler.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/example_ensure_handler.cpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/geometry.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/geometry.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/interpolate.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/interpolate.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/interpolate_details.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/interpolate_details.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/num_diff.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/num_diff.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/rotation_matrix.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/rotation_matrix.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/rxso2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/rxso2.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/rxso3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/rxso3.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/se2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/se2.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/se3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/se3.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/sim2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/sim2.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/sim3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/sim3.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/sim_details.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/sim_details.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/so2.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/so2.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/so3.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/so3.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/spline.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/spline.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/test_macros.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/test_macros.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/types.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/types.hpp -------------------------------------------------------------------------------- /lidar_localization/lidar_matcher/third_party/sophus/velocities.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/lidar_matcher/third_party/sophus/velocities.hpp -------------------------------------------------------------------------------- /lidar_localization/map/new_map.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/map/new_map.pcd -------------------------------------------------------------------------------- /lidar_localization/node/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/node/CMakeLists.txt -------------------------------------------------------------------------------- /lidar_localization/node/lidar_localization_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/node/lidar_localization_node.cpp -------------------------------------------------------------------------------- /lidar_localization/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/package.xml -------------------------------------------------------------------------------- /lidar_localization/package_ros1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/package_ros1.xml -------------------------------------------------------------------------------- /lidar_localization/package_ros2.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/lidar_localization/package_ros2.xml -------------------------------------------------------------------------------- /msf_localization/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/.gitignore -------------------------------------------------------------------------------- /msf_localization/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/CMakeLists.txt -------------------------------------------------------------------------------- /msf_localization/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/LICENSE -------------------------------------------------------------------------------- /msf_localization/config/loc_param.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/config/loc_param.yaml -------------------------------------------------------------------------------- /msf_localization/eskf/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/eskf/CMakeLists.txt -------------------------------------------------------------------------------- /msf_localization/eskf/include/eskf_helper.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/eskf/include/eskf_helper.h -------------------------------------------------------------------------------- /msf_localization/eskf/include/eskf_interface.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/eskf/include/eskf_interface.h -------------------------------------------------------------------------------- /msf_localization/eskf/include/type.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/eskf/include/type.h -------------------------------------------------------------------------------- /msf_localization/eskf/src/eskf_helper.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/eskf/src/eskf_helper.cpp -------------------------------------------------------------------------------- /msf_localization/eskf/src/eskf_interface.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/eskf/src/eskf_interface.cpp -------------------------------------------------------------------------------- /msf_localization/launch/msf_localization.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/launch/msf_localization.launch -------------------------------------------------------------------------------- /msf_localization/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/package.xml -------------------------------------------------------------------------------- /msf_localization/package_ros1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/package_ros1.xml -------------------------------------------------------------------------------- /msf_localization/package_ros2.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/package_ros2.xml -------------------------------------------------------------------------------- /msf_localization/ros1_interface/include/ros1_interface.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/ros1_interface/include/ros1_interface.h -------------------------------------------------------------------------------- /msf_localization/ros1_interface/src/ros1_interface.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/ros1_interface/src/ros1_interface.cpp -------------------------------------------------------------------------------- /msf_localization/ros1_interface/src/ros1_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/ros1_interface/src/ros1_node.cpp -------------------------------------------------------------------------------- /msf_localization/ros2_interface/include/ros2_interface.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/ros2_interface/include/ros2_interface.h -------------------------------------------------------------------------------- /msf_localization/ros2_interface/src/ros2_interface.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/ros2_interface/src/ros2_interface.cpp -------------------------------------------------------------------------------- /msf_localization/ros2_interface/src/ros2_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/ros2_interface/src/ros2_node.cpp -------------------------------------------------------------------------------- /msf_localization/rviz/rviz2_config.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/rviz/rviz2_config.rviz -------------------------------------------------------------------------------- /msf_localization/rviz/rviz_config.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboSense-Robotics/robosense_localization/HEAD/msf_localization/rviz/rviz_config.rviz --------------------------------------------------------------------------------