├── .gitignore ├── README.md ├── lidar_odom.sh └── src ├── CMakeLists.txt ├── gps_umd ├── CMakeLists.txt ├── Makefile ├── gps_common │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── Progress │ │ │ │ ├── 1 │ │ │ │ ├── 2 │ │ │ │ ├── 3 │ │ │ │ ├── 4 │ │ │ │ ├── 5 │ │ │ │ ├── 6 │ │ │ │ ├── 7 │ │ │ │ ├── 20 │ │ │ │ └── count.txt │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_py.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── download_extra_data.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_all.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── utm_odometry_node.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ └── utm_odometry_node.cpp.o │ │ ├── Makefile │ │ ├── atomic_configure │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── local_setup.bash │ │ │ │ ├── local_setup.sh │ │ │ │ ├── local_setup.zsh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── gps_common │ │ │ │ ├── _setup_util.py.stamp │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── cmake.lock │ │ │ ├── env.sh │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gmock.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gmock_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── cmake_install.cmake │ │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── include │ │ └── gps_common │ │ │ └── conversions.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── msg │ │ ├── GPSFix.msg │ │ └── GPSStatus.msg │ ├── msg_gen │ │ ├── cpp │ │ │ └── include │ │ │ │ └── gps_common │ │ │ │ ├── GPSFix.h │ │ │ │ └── GPSStatus.h │ │ ├── generated │ │ └── lisp │ │ │ ├── GPSFix.lisp │ │ │ ├── GPSStatus.lisp │ │ │ ├── _package.lisp │ │ │ ├── _package_GPSFix.lisp │ │ │ ├── _package_GPSStatus.lisp │ │ │ └── gps_common-msg.asd │ └── src │ │ ├── gps_common │ │ ├── __init__.py │ │ └── msg │ │ │ ├── _GPSFix.py │ │ │ ├── _GPSStatus.py │ │ │ └── __init__.py │ │ └── utm_odometry_node.cpp ├── gpsd_client │ ├── CMakeLists.txt │ ├── Makefile │ ├── mainpage.dox │ ├── manifest.xml │ └── src │ │ ├── client.cpp │ │ └── gps_dumper.cpp ├── rosdep.yaml └── stack.xml ├── ndt_gpu ├── CHANGELOG.rst ├── CMakeLists.txt ├── autoware_build_flags │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cmake │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.5.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── download_extra_data.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── feature_tests.bin │ │ │ ├── feature_tests.c │ │ │ ├── feature_tests.cxx │ │ │ ├── progress.marks │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── CTestConfiguration.ini │ │ ├── CTestCustom.cmake │ │ ├── CTestTestfile.cmake │ │ ├── Makefile │ │ ├── atomic_configure │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── autoware_build_flags-extras.cmake │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── autoware_build_flags.pc │ │ │ │ ├── autoware_build_flagsConfig-version.cmake │ │ │ │ ├── autoware_build_flagsConfig.cmake │ │ │ │ ├── env.sh │ │ │ │ ├── local_setup.bash │ │ │ │ ├── local_setup.sh │ │ │ │ ├── local_setup.zsh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── package.cmake │ │ │ ├── pkg.develspace.context.pc.py │ │ │ ├── pkg.installspace.context.pc.py │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── autoware_build_flags │ │ │ │ ├── _setup_util.py.stamp │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ ├── package.xml.stamp │ │ │ │ └── pkg.pc.em.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── cmake.lock │ │ │ ├── env.sh │ │ │ ├── lib │ │ │ │ └── pkgconfig │ │ │ │ │ └── autoware_build_flags.pc │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ ├── setup.zsh │ │ │ └── share │ │ │ │ └── autoware_build_flags │ │ │ │ └── cmake │ │ │ │ ├── autoware_build_flagsConfig-version.cmake │ │ │ │ └── autoware_build_flagsConfig.cmake │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gmock.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gmock_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── CTestTestfile.cmake │ │ │ ├── Makefile │ │ │ ├── cmake_install.cmake │ │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── CTestTestfile.cmake │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ └── package.xml ├── include │ └── ndt_gpu │ │ ├── Matrix.h │ │ ├── MatrixDevice.h │ │ ├── MatrixHost.h │ │ ├── NormalDistributionsTransform.h │ │ ├── Registration.h │ │ ├── SymmetricEigenSolver.h │ │ ├── VoxelGrid.h │ │ ├── common.h │ │ └── debug.h ├── package.xml └── src │ ├── CMakeCache.txt │ ├── CMakeFiles │ ├── 3.5.1 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ ├── CMakeDirectoryInformation.cmake │ ├── CMakeError.log │ ├── CMakeOutput.log │ ├── Makefile.cmake │ ├── Makefile2 │ ├── TargetDirectories.txt │ ├── cmake.check_cache │ ├── feature_tests.bin │ ├── feature_tests.c │ ├── feature_tests.cxx │ └── progress.marks │ ├── Makefile │ ├── MatrixDevice.cu │ ├── MatrixHost.cu │ ├── NormalDistributionsTransform.cu │ ├── Registration.cu │ ├── SymmetricEigenSolver.cu │ ├── VoxelGrid.cu │ └── cmake_install.cmake └── ndt_mapping_localization ├── README.md ├── image.png └── src ├── CMakeLists.txt ├── robot_localization ├── .github │ └── ISSUE_TEMPLATE │ │ ├── bug_report.md │ │ └── feature_request.md ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc │ ├── .templates │ │ └── full_globaltoc.html │ ├── CHANGELOG.rst │ ├── Makefile │ ├── conf.py │ ├── configuring_robot_localization.rst │ ├── images │ │ ├── figure1.png │ │ └── rl_small.png │ ├── index.rst │ ├── integrating_gps.rst │ ├── manifest.yaml │ ├── migrating_from_robot_pose_ekf.rst │ ├── navsat_transform_node.rst │ ├── preparing_sensor_data.rst │ ├── robot_localization_ias13_revised.pdf │ ├── state_estimation_nodes.rst │ └── user_contributed_tutorials.rst ├── include │ └── robot_localization │ │ ├── ekf.h │ │ ├── filter_base.h │ │ ├── filter_common.h │ │ ├── filter_utilities.h │ │ ├── navsat_conversions.h │ │ ├── navsat_transform.h │ │ ├── robot_localization_estimator.h │ │ ├── ros_filter.h │ │ ├── ros_filter_types.h │ │ ├── ros_filter_utilities.h │ │ ├── ros_robot_localization_listener.h │ │ └── ukf.h ├── launch │ ├── dual_ekf_navsat_example.launch │ ├── ekf_nodelet_template.launch │ ├── ekf_template.launch │ ├── navsat_transform_template.launch │ └── ukf_template.launch ├── nodelet_plugins.xml ├── package.xml ├── params │ ├── dual_ekf_navsat_example.yaml │ ├── ekf_template.yaml │ ├── navsat_transform_template.yaml │ └── ukf_template.yaml ├── rosdoc.yaml ├── src │ ├── ekf.cpp │ ├── ekf_localization_node.cpp │ ├── ekf_localization_nodelet.cpp │ ├── filter_base.cpp │ ├── filter_utilities.cpp │ ├── navsat_transform.cpp │ ├── navsat_transform_node.cpp │ ├── navsat_transform_nodelet.cpp │ ├── robot_localization_estimator.cpp │ ├── robot_localization_listener_node.cpp │ ├── ros_filter.cpp │ ├── ros_filter_utilities.cpp │ ├── ros_robot_localization_listener.cpp │ ├── ukf.cpp │ ├── ukf_localization_node.cpp │ └── ukf_localization_nodelet.cpp ├── srv │ ├── FromLL.srv │ ├── GetState.srv │ ├── SetDatum.srv │ ├── SetPose.srv │ ├── ToLL.srv │ └── ToggleFilterProcessing.srv └── test │ ├── record_all_stats.sh │ ├── stat_recorder.sh │ ├── test1.bag │ ├── test2.bag │ ├── test3.bag │ ├── test_ekf.cpp │ ├── test_ekf.test │ ├── test_ekf_localization_node_bag1.test │ ├── test_ekf_localization_node_bag2.test │ ├── test_ekf_localization_node_bag3.test │ ├── test_ekf_localization_node_interfaces.cpp │ ├── test_ekf_localization_node_interfaces.test │ ├── test_ekf_localization_nodelet_bag1.test │ ├── test_filter_base.cpp │ ├── test_filter_base_diagnostics_timestamps.cpp │ ├── test_filter_base_diagnostics_timestamps.test │ ├── test_localization_node_bag_pose_tester.cpp │ ├── test_robot_localization_estimator.cpp │ ├── test_robot_localization_estimator.test │ ├── test_ros_robot_localization_listener.cpp │ ├── test_ros_robot_localization_listener.test │ ├── test_ros_robot_localization_listener_publisher.cpp │ ├── test_ukf.cpp │ ├── test_ukf.test │ ├── test_ukf_localization_node_bag1.test │ ├── test_ukf_localization_node_bag2.test │ ├── test_ukf_localization_node_bag3.test │ ├── test_ukf_localization_node_interfaces.cpp │ ├── test_ukf_localization_node_interfaces.test │ └── test_ukf_localization_nodelet_bag1.test ├── vehicle_localization ├── CMakeLists.txt ├── launch │ ├── map_localization.launch │ └── map_localization.rviz ├── package.xml └── src │ ├── init_pos.cpp │ └── map_localization.cpp ├── vehicle_mapping ├── CMakeLists.txt ├── launch │ ├── ndt_mapping.launch │ └── ndt_mapping.rviz ├── package.xml └── src │ └── ndt.cpp └── vehicle_state ├── CMakeLists.txt ├── launch └── ekf.launch ├── package.xml └── params └── ekf.yaml /.gitignore: -------------------------------------------------------------------------------- 1 | # Do not track these files 2 | 3 | /build 4 | /devel 5 | /install 6 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU 2 | 3 | This repo is a work at the Embedded Computing Lab at Worcester Polytechnic Institute. 4 | 5 | This repository helps run the Normal Distributions transform algorithm on GPU. 6 | 7 | Changes to make before running the repo - 8 | 1. Update the address of "autoware_build_flags" in line 18 of src/ndt_gpu/CMakeLists.txt 9 | 2. Update cuda path in line 70 of src/ndt_gpu/CMakeLists.txt 10 | 3. Update the NDT_GPU_LIB path in line 111 of src/ndt_mapping_localization/src/vehicle_localization/CMakeLists.txt 11 | 4. Update cuda path in line 135 of src/ndt_mapping_localization/src/vehicle_localization/CMakeLists.txt 12 | 5. Update adress in line 166 of src/ndt_mapping_localization/src/vehicle_localization/CMakeLists.txt 13 | 6. Update cuda address in line 200 of src/ndt_mapping_localization/src/vehicle_localization/CMakeLists.txt 14 | 7. Perform step 3,4,5 and 6 for src/ndt_mapping_localization/src/vehicle_mapping/CMakeLists.txt 15 | 8. Update the autoware_build_flags path on line 199 of src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/autoware_build_flagsConfig 16 | 17 | To run the repo, follow the steps below - 18 | 1. clone the repo 19 | 2. cd into the repo folder and run ./lidar_odom.sh 20 | 3. source devel/setup.bash 21 | 4. roslaunch src/ndt_mapping_localization/src/vehicle_localization/launch/map_localization.launch 22 | 5. Set the 2D pose estimate on the rviz map 23 | 6. Run the rosbag which is available at https://drive.google.com/open?id=1mqBURRoouFT1HYkWjkjENcotXf75Tz0u 24 | 25 | Note: Please be aware that this repo uses cuda 9.0. If you wish to switch to cuda 10, you will have to update the above mentioned(steps 1,3 and 7) CMakeLists.txt. This repo is untested on cuda 10.0. 26 | 27 | You can also get started using the following docker image - 28 | https://hub.docker.com/repository/docker/ameysk/ndt_slam_gpu 29 | 30 | Make sure to install VNC viewer in your host system to visualize the results. The following link can be used to set up the VNC viewer - 31 | https://gist.github.com/cyberang3l/422a77a47bdc15a0824d5cca47e64ba2 32 | 33 | Do not hesitate to report any issues or ask any questions about the repo in the "issues" section of the repo or by mailing me at askulkarni2@wpi.edu 34 | -------------------------------------------------------------------------------- /lidar_odom.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # This workspace requires ndt_gpu to be built first before building the other packages. 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"$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/atomic_configure/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin/catkin_generated/version/package.cmake: -------------------------------------------------------------------------------- 1 | set(_CATKIN_CURRENT_PACKAGE "catkin") 2 | set(catkin_VERSION "0.7.18") 3 | set(catkin_MAINTAINER "Dirk Thomas ") 4 | set(catkin_PACKAGE_FORMAT "2") 5 | set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg") 6 | set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 7 | set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-empy" "python-nose" "python-argparse" "python-catkin-pkg") 8 | set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 9 | set(catkin_BUILDTOOL_DEPENDS "cmake") 10 | set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake") 11 | set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg") 12 | set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 13 | set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "google-mock" "gtest" "python-empy" "python-nose") 14 | set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 15 | set(catkin_TEST_DEPENDS "python-mock" "python-nose") 16 | set(catkin_DOC_DEPENDS ) 17 | set(catkin_URL_WEBSITE "http://www.ros.org/wiki/catkin") 18 | set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") 19 | set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") 20 | set(catkin_DEPRECATED "") -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/env_cached.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup_cached.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup_cached.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/generate_cached_setup.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | from __future__ import print_function 3 | import argparse 4 | import os 5 | import stat 6 | import sys 7 | 8 | # find the import for catkin's python package - either from source space or from an installed underlay 9 | if os.path.exists(os.path.join('/opt/ros/kinetic/share/catkin/cmake', 'catkinConfig.cmake.in')): 10 | sys.path.insert(0, os.path.join('/opt/ros/kinetic/share/catkin/cmake', '..', 'python')) 11 | try: 12 | from catkin.environment_cache import generate_environment_script 13 | except ImportError: 14 | # search for catkin package in all workspaces and prepend to path 15 | for workspace in "/home/amey/NDT_openMP_ws/devel;/opt/ros/kinetic".split(';'): 16 | python_path = os.path.join(workspace, 'lib/python3/dist-packages') 17 | if os.path.isdir(os.path.join(python_path, 'catkin')): 18 | sys.path.insert(0, python_path) 19 | break 20 | from catkin.environment_cache import generate_environment_script 21 | 22 | code = generate_environment_script('/home/amey/NDT_openMP_ws/src/gps_umd/gps_common/build/devel/env.sh') 23 | 24 | output_filename = '/home/amey/NDT_openMP_ws/src/gps_umd/gps_common/build/catkin_generated/setup_cached.sh' 25 | with open(output_filename, 'w') as f: 26 | #print('Generate script for cached setup "%s"' % output_filename) 27 | f.write('\n'.join(code)) 28 | 29 | mode = os.stat(output_filename).st_mode 30 | os.chmod(output_filename, mode | stat.S_IXUSR) 31 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/installspace/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /usr/local/setup.sh 3 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/installspace/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/installspace/local_setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/local_setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" --extend --local 9 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/installspace/local_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/local_setup.sh.in 3 | 4 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 5 | # or fall back to the destination set at configure time 6 | : ${_CATKIN_SETUP_DIR:=/usr/local} 7 | CATKIN_SETUP_UTIL_ARGS="--extend --local" 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | unset CATKIN_SETUP_UTIL_ARGS 10 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/installspace/local_setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/local_setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' 9 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/installspace/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/installspace/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/ordered_paths.cmake: -------------------------------------------------------------------------------- 1 | set(ORDERED_PATHS "/opt/ros/kinetic/lib") -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/setup_cached.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/python/catkin/environment_cache.py 3 | 4 | # based on a snapshot of the environment before and after calling the setup script 5 | # it emulates the modifications of the setup script without recurring computations 6 | 7 | # new environment variables 8 | 9 | # modified environment variables 10 | export CMAKE_PREFIX_PATH="/home/amey/NDT_openMP_ws/src/gps_umd/gps_common/build/devel:$CMAKE_PREFIX_PATH" 11 | export ROSLISP_PACKAGE_DIRECTORIES="/home/amey/NDT_openMP_ws/src/gps_umd/gps_common/build/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES" 12 | export ROS_PACKAGE_PATH="/home/amey/NDT_openMP_ws/src/gps_umd/gps_common:$ROS_PACKAGE_PATH" -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/catkin_generated/stamps/gps_common/package.xml.stamp: -------------------------------------------------------------------------------- 1 | 2 | 3 | catkin 4 | 0.7.18 5 | Low-level build system macros and infrastructure for ROS. 6 | Dirk Thomas 7 | BSD 8 | 9 | http://www.ros.org/wiki/catkin 10 | https://github.com/ros/catkin/issues 11 | https://github.com/ros/catkin 12 | 13 | Troy Straszheim 14 | Morten Kjaergaard 15 | Brian Gerkey 16 | Dirk Thomas 17 | 18 | cmake 19 | cmake 20 | 21 | python-argparse 22 | python-catkin-pkg 23 | 24 | python-empy 25 | 26 | google-mock 27 | gtest 28 | python-empy 29 | python-nose 30 | 31 | python-mock 32 | python-nose 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/devel/.catkin: -------------------------------------------------------------------------------- 1 | /home/amey/NDT_openMP_ws/src/gps_umd/gps_common -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/devel/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/amey/NDT_openMP_ws/src/gps_umd/gps_common/build/devel/setup.sh 3 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/devel/cmake.lock: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ameyskulkarni/LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU/b930547b1e0054163324a0666f7e2785d4a3d4f3/src/gps_umd/gps_common/build/devel/cmake.lock -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/devel/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/devel/local_setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/local_setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" --extend --local 9 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/devel/local_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/local_setup.sh.in 3 | 4 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 5 | # or fall back to the destination set at configure time 6 | : ${_CATKIN_SETUP_DIR:=/home/amey/NDT_openMP_ws/src/gps_umd/gps_common/build/devel} 7 | CATKIN_SETUP_UTIL_ARGS="--extend --local" 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | unset CATKIN_SETUP_UTIL_ARGS 10 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/devel/local_setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/local_setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' 9 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/build/devel/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . 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Positive is north of equator; negative is south. 7 | float64 latitude 8 | 9 | # Longitude (degrees). Positive is east of prime meridian, negative west. 10 | float64 longitude 11 | 12 | # Altitude (meters). Positive is above reference (e.g., sea level). 13 | float64 altitude 14 | 15 | # Direction (degrees from north) 16 | float64 track 17 | 18 | # Ground speed (meters/second) 19 | float64 speed 20 | 21 | # Vertical speed (meters/second) 22 | float64 climb 23 | 24 | # Device orientation (units in degrees) 25 | float64 pitch 26 | float64 roll 27 | float64 dip 28 | 29 | # GPS time 30 | float64 time 31 | 32 | ## Dilution of precision; Xdop<=0 means the value is unknown 33 | 34 | # Total (positional-temporal) dilution of precision 35 | float64 gdop 36 | 37 | # Positional (3D) dilution of precision 38 | float64 pdop 39 | 40 | # Horizontal dilution of precision 41 | float64 hdop 42 | 43 | # Vertical dilution of precision 44 | float64 vdop 45 | 46 | # Temporal dilution of precision 47 | float64 tdop 48 | 49 | ## Uncertainty of measurement, 95% confidence 50 | 51 | # Spherical position uncertainty (meters) [epe] 52 | float64 err 53 | 54 | # Horizontal position uncertainty (meters) [eph] 55 | float64 err_horz 56 | 57 | # Vertical position uncertainty (meters) [epv] 58 | float64 err_vert 59 | 60 | # Track uncertainty (degrees) [epd] 61 | float64 err_track 62 | 63 | # Ground speed uncertainty (meters/second) [eps] 64 | float64 err_speed 65 | 66 | # Vertical speed uncertainty (meters/second) [epc] 67 | float64 err_climb 68 | 69 | # Temporal uncertainty [ept] 70 | float64 err_time 71 | 72 | # Orientation uncertainty (degrees) 73 | float64 err_pitch 74 | float64 err_roll 75 | float64 err_dip 76 | 77 | # Position covariance [m^2] defined relative to a tangential plane 78 | # through the reported position. The components are East, North, and 79 | # Up (ENU), in row-major order. 80 | 81 | float64[9] position_covariance 82 | 83 | uint8 COVARIANCE_TYPE_UNKNOWN = 0 84 | uint8 COVARIANCE_TYPE_APPROXIMATED = 1 85 | uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2 86 | uint8 COVARIANCE_TYPE_KNOWN = 3 87 | 88 | uint8 position_covariance_type 89 | 90 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/msg/GPSStatus.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | # Satellites used in solution 4 | uint16 satellites_used # Number of satellites 5 | int32[] satellite_used_prn # PRN identifiers 6 | 7 | # Satellites visible 8 | uint16 satellites_visible 9 | int32[] satellite_visible_prn # PRN identifiers 10 | int32[] satellite_visible_z # Elevation of satellites 11 | int32[] satellite_visible_azimuth # Azimuth of satellites 12 | int32[] satellite_visible_snr # Signal-to-noise ratios (dB) 13 | 14 | # Measurement status 15 | int16 STATUS_NO_FIX=-1 # Unable to fix position 16 | int16 STATUS_FIX=0 # Normal fix 17 | int16 STATUS_SBAS_FIX=1 # Fixed using a satellite-based augmentation system 18 | int16 STATUS_GBAS_FIX=2 # or a ground-based augmentation system 19 | int16 STATUS_DGPS_FIX=18 # Fixed with DGPS 20 | int16 STATUS_WAAS_FIX=33 # Fixed with WAAS 21 | int16 status 22 | 23 | uint16 SOURCE_NONE=0 # No information is available 24 | uint16 SOURCE_GPS=1 # Using standard GPS location [only valid for position_source] 25 | uint16 SOURCE_POINTS=2 # Motion/orientation fix is derived from successive points 26 | uint16 SOURCE_DOPPLER=4 # Motion is derived using the Doppler effect 27 | uint16 SOURCE_ALTIMETER=8 # Using an altimeter 28 | uint16 SOURCE_MAGNETIC=16 # Using magnetic sensors 29 | uint16 SOURCE_GYRO=32 # Using gyroscopes 30 | uint16 SOURCE_ACCEL=64 # Using accelerometers 31 | 32 | uint16 motion_source # Source for speed, climb and track 33 | uint16 orientation_source # Source for device orientation 34 | uint16 position_source # Source for position 35 | 36 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/msg_gen/generated: -------------------------------------------------------------------------------- 1 | yes -------------------------------------------------------------------------------- /src/gps_umd/gps_common/msg_gen/lisp/_package.lisp: -------------------------------------------------------------------------------- 1 | (cl:defpackage gps_common-msg 2 | (:use ) 3 | (:export 4 | "" 5 | "GPSSTATUS" 6 | "" 7 | "GPSFIX" 8 | )) 9 | 10 | -------------------------------------------------------------------------------- /src/gps_umd/gps_common/msg_gen/lisp/_package_GPSFix.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package gps_common-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | STATUS-VAL 5 | STATUS 6 | LATITUDE-VAL 7 | LATITUDE 8 | LONGITUDE-VAL 9 | LONGITUDE 10 | ALTITUDE-VAL 11 | ALTITUDE 12 | TRACK-VAL 13 | TRACK 14 | SPEED-VAL 15 | SPEED 16 | CLIMB-VAL 17 | CLIMB 18 | PITCH-VAL 19 | PITCH 20 | ROLL-VAL 21 | ROLL 22 | DIP-VAL 23 | DIP 24 | TIME-VAL 25 | TIME 26 | GDOP-VAL 27 | GDOP 28 | PDOP-VAL 29 | PDOP 30 | HDOP-VAL 31 | HDOP 32 | VDOP-VAL 33 | VDOP 34 | TDOP-VAL 35 | TDOP 36 | ERR-VAL 37 | ERR 38 | ERR_HORZ-VAL 39 | ERR_HORZ 40 | ERR_VERT-VAL 41 | ERR_VERT 42 | ERR_TRACK-VAL 43 | ERR_TRACK 44 | ERR_SPEED-VAL 45 | ERR_SPEED 46 | ERR_CLIMB-VAL 47 | ERR_CLIMB 48 | ERR_TIME-VAL 49 | ERR_TIME 50 | ERR_PITCH-VAL 51 | ERR_PITCH 52 | ERR_ROLL-VAL 53 | ERR_ROLL 54 | ERR_DIP-VAL 55 | ERR_DIP 56 | POSITION_COVARIANCE-VAL 57 | POSITION_COVARIANCE 58 | POSITION_COVARIANCE_TYPE-VAL 59 | POSITION_COVARIANCE_TYPE 60 | )) -------------------------------------------------------------------------------- /src/gps_umd/gps_common/msg_gen/lisp/_package_GPSStatus.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package gps_common-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | SATELLITES_USED-VAL 5 | SATELLITES_USED 6 | SATELLITE_USED_PRN-VAL 7 | SATELLITE_USED_PRN 8 | SATELLITES_VISIBLE-VAL 9 | SATELLITES_VISIBLE 10 | SATELLITE_VISIBLE_PRN-VAL 11 | SATELLITE_VISIBLE_PRN 12 | SATELLITE_VISIBLE_Z-VAL 13 | SATELLITE_VISIBLE_Z 14 | SATELLITE_VISIBLE_AZIMUTH-VAL 15 | SATELLITE_VISIBLE_AZIMUTH 16 | SATELLITE_VISIBLE_SNR-VAL 17 | SATELLITE_VISIBLE_SNR 18 | STATUS-VAL 19 | STATUS 20 | MOTION_SOURCE-VAL 21 | MOTION_SOURCE 22 | ORIENTATION_SOURCE-VAL 23 | ORIENTATION_SOURCE 24 | POSITION_SOURCE-VAL 25 | POSITION_SOURCE 26 | )) -------------------------------------------------------------------------------- /src/gps_umd/gps_common/msg_gen/lisp/gps_common-msg.asd: -------------------------------------------------------------------------------- 1 | 2 | (cl:in-package :asdf) 3 | 4 | (defsystem "gps_common-msg" 5 | :depends-on (:roslisp-msg-protocol :roslisp-utils :std_msgs-msg 6 | ) 7 | :components ((:file "_package") 8 | (:file "GPSStatus" :depends-on ("_package_GPSStatus")) 9 | (:file "_package_GPSStatus" :depends-on ("_package")) 10 | (:file "GPSFix" :depends-on ("_package_GPSFix")) 11 | (:file "_package_GPSFix" :depends-on ("_package")) 12 | )) -------------------------------------------------------------------------------- /src/gps_umd/gps_common/src/gps_common/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /src/gps_umd/gps_common/src/gps_common/msg/__init__.py: -------------------------------------------------------------------------------- 1 | from ._GPSFix import * 2 | from ._GPSStatus import * 3 | -------------------------------------------------------------------------------- /src/gps_umd/gpsd_client/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | # Set the build type. Options are: 5 | # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage 6 | # Debug : w/ debug symbols, w/o optimization 7 | # Release : w/o debug symbols, w/ optimization 8 | # RelWithDebInfo : w/ debug symbols, w/ optimization 9 | # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries 10 | #set(ROS_BUILD_TYPE Debug) 11 | 12 | rosbuild_init() 13 | 14 | #set the default path for built executables to the "bin" directory 15 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 16 | #set the default path for built libraries to the "lib" directory 17 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 18 | 19 | #uncomment if you have defined messages 20 | #rosbuild_genmsg() 21 | #uncomment if you have defined services 22 | #rosbuild_gensrv() 23 | 24 | #common commands for building c++ executables and libraries 25 | #rosbuild_add_library(${PROJECT_NAME} src/example.cpp) 26 | #target_link_libraries(${PROJECT_NAME} another_library) 27 | #rosbuild_add_boost_directories() 28 | #rosbuild_link_boost(${PROJECT_NAME} thread) 29 | #rosbuild_add_executable(example examples/example.cpp) 30 | #target_link_libraries(example ${PROJECT_NAME}) 31 | 32 | rosbuild_add_executable(gpsd_client src/client.cpp) 33 | target_link_libraries(gpsd_client gps) 34 | 35 | -------------------------------------------------------------------------------- /src/gps_umd/gpsd_client/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /src/gps_umd/gpsd_client/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \section usage Usage 6 | 7 | \b gpsd_client relays GPS readings into ROS from the \b gpsd program. \b gpsd 8 | should be running before this node is started. 9 | 10 | */ 11 | -------------------------------------------------------------------------------- /src/gps_umd/gpsd_client/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | gpsd_client connects to a GPSd server and broadcasts 5 | GPS fixes using the NavSatFix message 6 | 7 | 8 | Rob Thomson, Ken Tossell 9 | BSD 10 | 11 | http://ros.org/wiki/gpsd_client 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /src/gps_umd/gpsd_client/src/gps_dumper.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | void gpsCallback(const nav_msgs::Odometry::ConstPtr& msg) 6 | { 7 | // printf("Got msg!\n"); 8 | printf("%lf,%lf,0\n",msg->pose.pose.position.y,msg->pose.pose.position.x,msg->pose.pose.position.z); 9 | //printf(" VEL:[%lf] ANG:[%lf]\n",msg->linear.x,msg->angular.z); 10 | } 11 | 12 | int main(int argc, char ** argv) 13 | { 14 | ros::init(argc, argv, "gps_dumper"); 15 | ros::NodeHandle n; 16 | ros::Subscriber sub = n.subscribe("gps_odom", 1, gpsCallback); 17 | ros::spin(); 18 | return 0; 19 | } 20 | -------------------------------------------------------------------------------- /src/gps_umd/rosdep.yaml: -------------------------------------------------------------------------------- 1 | libgps: 2 | ubuntu: libgps-dev 3 | fedora: gpsd-devel 4 | -------------------------------------------------------------------------------- /src/gps_umd/stack.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | This stack provides a ROS binding for the GPS receivers that are supported 4 | by the GPSd software (http://gpsd.berlios.de/). 5 | 6 | Ken Tossell 7 | BSD 8 | 9 | http://ros.org/wiki/gps_umd 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/CHANGELOG.rst: 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/src/ndt_gpu/autoware_build_flags/cmake/CTestTestfile.cmake: -------------------------------------------------------------------------------- 1 | # CMake generated Testfile for 2 | # Source directory: /home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags 3 | # Build directory: /home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake 4 | # 5 | # This file includes the relevant testing commands required for 6 | # testing this directory and lists subdirectories to be tested as well. 7 | subdirs(gtest) 8 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/atomic_configure/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel/setup.sh 3 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/atomic_configure/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/atomic_configure/local_setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/local_setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" --extend --local 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/atomic_configure/local_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/local_setup.sh.in 3 | 4 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 5 | # or fall back to the destination set at configure time 6 | : ${_CATKIN_SETUP_DIR:=/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel} 7 | CATKIN_SETUP_UTIL_ARGS="--extend --local" 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | unset CATKIN_SETUP_UTIL_ARGS 10 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/atomic_configure/local_setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/local_setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/atomic_configure/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/atomic_configure/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/autoware_build_flags-extras.cmake: -------------------------------------------------------------------------------- 1 | if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") 2 | set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--no-undefined") 3 | elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang") 4 | set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-undefined,error") 5 | endif() 6 | 7 | # Enable support for C++14 8 | if(${CMAKE_VERSION} VERSION_LESS "3.1.0") 9 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") 10 | else() 11 | set(CMAKE_CXX_STANDARD 14) 12 | endif() 13 | 14 | message(STATUS "CUDA compilation status: $ENV{AUTOWARE_COMPILE_WITH_CUDA}.") 15 | 16 | macro(AW_CHECK_CUDA) 17 | set(ENV{AUTOWARE_COMPILE_WITH_CUDA} 1) 18 | message("Environment variable AUTOWARE_COMPILE_WITH_CUDA: $ENV{AUTOWARE_COMPILE_WITH_CUDA}") 19 | if ($ENV{AUTOWARE_COMPILE_WITH_CUDA}) 20 | find_package(CUDA REQUIRED) 21 | find_package(Eigen3 REQUIRED) 22 | 23 | if(NOT ${CUDA_VERSION} VERSION_LESS "10.0" 24 | AND NOT ${CUDA_VERSION} VERSION_EQUAL "10.0" ) 25 | message(FATAL_ERROR "GPU support on Melodic requires CUDA<=10.0") 26 | endif() 27 | if(${CUDA_VERSION} VERSION_GREATER "9.1" 28 | AND ${CMAKE_VERSION} VERSION_LESS "3.12.3") 29 | unset(CUDA_cublas_device_LIBRARY CACHE) 30 | set(CUDA_cublas_device_LIBRARY ${CUDA_cublas_LIBRARY}) 31 | set(CUDA_CUBLAS_LIBRARIES ${CUDA_cublas_LIBRARY}) 32 | endif() 33 | if ("$ENV{ROS_DISTRO}" STREQUAL "melodic" AND ${EIGEN3_VERSION_STRING} VERSION_LESS "3.3.7") 34 | message(FATAL_ERROR "GPU support on Melodic requires Eigen version>= 3.3.7") 35 | endif() 36 | set(USE_CUDA ON) 37 | else() 38 | message(WARNING "CUDA support is disabled. Set the AUTOWARE_COMPILE_WITH_CUDA environment variable and recompile to enable it") 39 | set(USE_CUDA OFF) 40 | endif() 41 | endmacro() 42 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin/catkin_generated/version/package.cmake: -------------------------------------------------------------------------------- 1 | set(_CATKIN_CURRENT_PACKAGE "catkin") 2 | set(catkin_VERSION "0.7.18") 3 | set(catkin_MAINTAINER "Dirk Thomas ") 4 | set(catkin_PACKAGE_FORMAT "2") 5 | set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg") 6 | set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 7 | set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-empy" "python-nose" "python-argparse" "python-catkin-pkg") 8 | set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 9 | set(catkin_BUILDTOOL_DEPENDS "cmake") 10 | set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake") 11 | set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg") 12 | set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 13 | set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "google-mock" "gtest" "python-empy" "python-nose") 14 | set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") 15 | set(catkin_TEST_DEPENDS "python-mock" "python-nose") 16 | set(catkin_DOC_DEPENDS ) 17 | set(catkin_URL_WEBSITE "http://www.ros.org/wiki/catkin") 18 | set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") 19 | set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") 20 | set(catkin_DEPRECATED "") -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/env_cached.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup_cached.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup_cached.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/generate_cached_setup.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | from __future__ import print_function 3 | import argparse 4 | import os 5 | import stat 6 | import sys 7 | 8 | # find the import for catkin's python package - either from source space or from an installed underlay 9 | if os.path.exists(os.path.join('/opt/ros/kinetic/share/catkin/cmake', 'catkinConfig.cmake.in')): 10 | sys.path.insert(0, os.path.join('/opt/ros/kinetic/share/catkin/cmake', '..', 'python')) 11 | try: 12 | from catkin.environment_cache import generate_environment_script 13 | except ImportError: 14 | # search for catkin package in all workspaces and prepend to path 15 | for workspace in "/opt/ros/kinetic".split(';'): 16 | python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') 17 | if os.path.isdir(os.path.join(python_path, 'catkin')): 18 | sys.path.insert(0, python_path) 19 | break 20 | from catkin.environment_cache import generate_environment_script 21 | 22 | code = generate_environment_script('/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel/env.sh') 23 | 24 | output_filename = '/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/catkin_generated/setup_cached.sh' 25 | with open(output_filename, 'w') as f: 26 | #print('Generate script for cached setup "%s"' % output_filename) 27 | f.write('\n'.join(code)) 28 | 29 | mode = os.stat(output_filename).st_mode 30 | os.chmod(output_filename, mode | stat.S_IXUSR) 31 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /usr/local/setup.sh 3 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/autoware_build_flags.pc: -------------------------------------------------------------------------------- 1 | prefix=/usr/local 2 | 3 | Name: autoware_build_flags 4 | Description: Description of autoware_build_flags 5 | Version: 1.12.0 6 | Cflags: 7 | Libs: -L/usr/local/lib 8 | Requires: 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/autoware_build_flagsConfig-version.cmake: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkgConfig-version.cmake.in 2 | set(PACKAGE_VERSION "1.12.0") 3 | 4 | set(PACKAGE_VERSION_EXACT False) 5 | set(PACKAGE_VERSION_COMPATIBLE False) 6 | 7 | if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") 8 | set(PACKAGE_VERSION_EXACT True) 9 | set(PACKAGE_VERSION_COMPATIBLE True) 10 | endif() 11 | 12 | if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") 13 | set(PACKAGE_VERSION_COMPATIBLE True) 14 | endif() 15 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/local_setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/local_setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" --extend --local 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/local_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/local_setup.sh.in 3 | 4 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 5 | # or fall back to the destination set at configure time 6 | : ${_CATKIN_SETUP_DIR:=/usr/local} 7 | CATKIN_SETUP_UTIL_ARGS="--extend --local" 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | unset CATKIN_SETUP_UTIL_ARGS 10 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/local_setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/local_setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/installspace/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 8 | emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/package.cmake: -------------------------------------------------------------------------------- 1 | set(_CATKIN_CURRENT_PACKAGE "autoware_build_flags") 2 | set(autoware_build_flags_VERSION "1.12.0") 3 | set(autoware_build_flags_MAINTAINER "Esteve Fernandez ") 4 | set(autoware_build_flags_PACKAGE_FORMAT "2") 5 | set(autoware_build_flags_BUILD_DEPENDS ) 6 | set(autoware_build_flags_BUILD_EXPORT_DEPENDS ) 7 | set(autoware_build_flags_BUILDTOOL_DEPENDS "catkin") 8 | set(autoware_build_flags_BUILDTOOL_EXPORT_DEPENDS ) 9 | set(autoware_build_flags_EXEC_DEPENDS ) 10 | set(autoware_build_flags_RUN_DEPENDS ) 11 | set(autoware_build_flags_TEST_DEPENDS ) 12 | set(autoware_build_flags_DOC_DEPENDS ) 13 | set(autoware_build_flags_URL_WEBSITE "") 14 | set(autoware_build_flags_URL_BUGTRACKER "") 15 | set(autoware_build_flags_URL_REPOSITORY "") 16 | set(autoware_build_flags_DEPRECATED "") -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/pkg.develspace.context.pc.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkg.context.pc.in 2 | CATKIN_PACKAGE_PREFIX = "" 3 | PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] 4 | PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') 5 | PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] 6 | PROJECT_NAME = "autoware_build_flags" 7 | PROJECT_SPACE_DIR = "/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel" 8 | PROJECT_VERSION = "1.12.0" 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/pkg.installspace.context.pc.py: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/template/pkg.context.pc.in 2 | CATKIN_PACKAGE_PREFIX = "" 3 | PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] 4 | PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') 5 | PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] 6 | PROJECT_NAME = "autoware_build_flags" 7 | PROJECT_SPACE_DIR = "/usr/local" 8 | PROJECT_VERSION = "1.12.0" 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/setup_cached.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/python/catkin/environment_cache.py 3 | 4 | # based on a snapshot of the environment before and after calling the setup script 5 | # it emulates the modifications of the setup script without recurring computations 6 | 7 | # new environment variables 8 | 9 | # modified environment variables 10 | export CMAKE_PREFIX_PATH="/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel:$CMAKE_PREFIX_PATH" 11 | export ROSLISP_PACKAGE_DIRECTORIES="/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel/share/common-lisp" 12 | export ROS_PACKAGE_PATH="/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags:$ROS_PACKAGE_PATH" -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/stamps/autoware_build_flags/package.xml.stamp: -------------------------------------------------------------------------------- 1 | 2 | 3 | autoware_build_flags 4 | 1.12.0 5 | Common build flags for Autoware. 6 | 7 | Esteve Fernandez 8 | Esteve Fernandez 9 | 10 | Apache 2 11 | 12 | catkin 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/catkin_generated/stamps/autoware_build_flags/pkg.pc.em.stamp: -------------------------------------------------------------------------------- 1 | prefix=@PROJECT_SPACE_DIR 2 | 3 | Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) 4 | Description: Description of @PROJECT_NAME 5 | Version: @PROJECT_VERSION 6 | Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) 7 | Libs: -L@PROJECT_SPACE_DIR/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) 8 | Requires: @(PROJECT_CATKIN_DEPENDS) 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/devel/.catkin: -------------------------------------------------------------------------------- 1 | /home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/devel/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel/setup.sh 3 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/devel/cmake.lock: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ameyskulkarni/LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU/b930547b1e0054163324a0666f7e2785d4a3d4f3/src/ndt_gpu/autoware_build_flags/cmake/devel/cmake.lock -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/devel/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/devel/lib/pkgconfig/autoware_build_flags.pc: -------------------------------------------------------------------------------- 1 | prefix=/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel 2 | 3 | Name: autoware_build_flags 4 | Description: Description of autoware_build_flags 5 | Version: 1.12.0 6 | Cflags: 7 | Libs: -L/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel/lib 8 | Requires: 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/devel/local_setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/local_setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" --extend --local 9 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/cmake/devel/local_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/template/local_setup.sh.in 3 | 4 | # since this file is sourced either use the provided _CATKIN_SETUP_DIR 5 | # or fall back to the destination set at configure time 6 | : ${_CATKIN_SETUP_DIR:=/home/amey/NDT_GPU_Autoware/autoware-623c51c8dc29f2d9d66ed6cbd39bcfb1d45183b7-ros-src-computing-perception-localization-lib-ndt_gpu/ros/src/computing/perception/localization/lib/ndt_gpu/common-master-autoware_build_flags/autoware_build_flags/cmake/devel} 7 | CATKIN_SETUP_UTIL_ARGS="--extend --local" 8 | . 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else() 26 | set(CMAKE_INSTALL_COMPONENT) 27 | endif() 28 | endif() 29 | 30 | # Install shared libraries without execute permission? 31 | if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) 32 | set(CMAKE_INSTALL_SO_NO_EXE "1") 33 | endif() 34 | 35 | -------------------------------------------------------------------------------- /src/ndt_gpu/autoware_build_flags/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | autoware_build_flags 4 | 1.12.0 5 | Common build flags for Autoware. 6 | 7 | Esteve Fernandez 8 | Esteve Fernandez 9 | 10 | Apache 2 11 | 12 | catkin 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /src/ndt_gpu/include/ndt_gpu/MatrixDevice.h: -------------------------------------------------------------------------------- 1 | #ifndef MATRIX_DEVICE_H_ 2 | #define MATRIX_DEVICE_H_ 3 | 4 | #include "Matrix.h" 5 | 6 | namespace gpu { 7 | class MatrixDevice : public Matrix { 8 | public: 9 | CUDAH MatrixDevice(); 10 | 11 | MatrixDevice(int rows, int cols); 12 | 13 | CUDAH MatrixDevice(int rows, int cols, int offset, double *buffer); 14 | 15 | CUDAH bool isEmpty(); 16 | 17 | CUDAH MatrixDevice col(int index); 18 | 19 | CUDAH MatrixDevice row(int index); 20 | 21 | CUDAH void setBuffer(double *buffer); 22 | 23 | void memAlloc(); 24 | 25 | void memFree(); 26 | 27 | private: 28 | bool fr_; 29 | }; 30 | 31 | CUDAH MatrixDevice::MatrixDevice() 32 | { 33 | rows_ = cols_ = offset_ = 0; 34 | buffer_ = NULL; 35 | fr_ = true; 36 | } 37 | 38 | CUDAH MatrixDevice::MatrixDevice(int rows, int cols, int offset, double *buffer) 39 | { 40 | rows_ = rows; 41 | cols_ = cols; 42 | offset_ = offset; 43 | buffer_ = buffer; 44 | fr_ = false; 45 | } 46 | 47 | CUDAH bool MatrixDevice::isEmpty() 48 | { 49 | return (rows_ == 0 || cols_ == 0 || buffer_ == NULL); 50 | } 51 | 52 | CUDAH MatrixDevice MatrixDevice::col(int index) 53 | { 54 | return MatrixDevice(rows_, 1, offset_ * cols_, buffer_ + index * offset_); 55 | } 56 | 57 | CUDAH MatrixDevice MatrixDevice::row(int index) 58 | { 59 | return MatrixDevice(1, cols_, offset_, buffer_ + index * cols_ * offset_); 60 | } 61 | 62 | CUDAH void MatrixDevice::setBuffer(double *buffer) 63 | { 64 | buffer_ = buffer; 65 | } 66 | 67 | 68 | 69 | class SquareMatrixDevice : public MatrixDevice { 70 | public: 71 | SquareMatrixDevice(int size); 72 | }; 73 | 74 | } 75 | 76 | #endif 77 | -------------------------------------------------------------------------------- /src/ndt_gpu/include/ndt_gpu/MatrixHost.h: -------------------------------------------------------------------------------- 1 | #ifndef MATRIX_HOST_H_ 2 | #define MATRIX_HOST_H_ 3 | 4 | #include "Matrix.h" 5 | #include "MatrixDevice.h" 6 | 7 | namespace gpu { 8 | class MatrixHost : public Matrix { 9 | public: 10 | MatrixHost(); 11 | MatrixHost(int rows, int cols); 12 | MatrixHost(int rows, int cols, int offset, double *buffer); 13 | MatrixHost(const MatrixHost& other); 14 | 15 | bool moveToGpu(MatrixDevice output); 16 | bool moveToHost(MatrixDevice input); 17 | 18 | MatrixHost &operator=(const MatrixHost &other); 19 | 20 | void debug(); 21 | 22 | ~MatrixHost(); 23 | private: 24 | bool fr_; 25 | }; 26 | 27 | class SquareMatrixHost: public MatrixHost { 28 | public: 29 | SquareMatrixHost(int size); 30 | }; 31 | 32 | } 33 | 34 | #endif 35 | -------------------------------------------------------------------------------- /src/ndt_gpu/include/ndt_gpu/Registration.h: -------------------------------------------------------------------------------- 1 | #ifndef GNDT_H_ 2 | #define GNDT_H_ 3 | 4 | #include 5 | #include 6 | #include "Matrix.h" 7 | #include "MatrixHost.h" 8 | #include "MatrixDevice.h" 9 | #include "common.h" 10 | #include 11 | #include 12 | #include 13 | #include 14 | 15 | namespace gpu { 16 | class GRegistration { 17 | public: 18 | GRegistration(); 19 | GRegistration(const GRegistration &other); 20 | 21 | void align(const Eigen::Matrix &guess); 22 | 23 | void setTransformationEpsilon(double trans_eps); 24 | 25 | double getTransformationEpsilon() const; 26 | 27 | void setMaximumIterations(int max_itr); 28 | 29 | int getMaximumIterations() const; 30 | 31 | Eigen::Matrix getFinalTransformation() const; 32 | 33 | /* Set input Scanned point cloud. 34 | * Copy input points from the main memory to the GPU memory */ 35 | void setInputSource(pcl::PointCloud::Ptr input); 36 | void setInputSource(pcl::PointCloud::Ptr input); 37 | 38 | /* Set input reference map point cloud. 39 | * Copy input points from the main memory to the GPU memory */ 40 | void setInputTarget(pcl::PointCloud::Ptr input); 41 | void setInputTarget(pcl::PointCloud::Ptr input); 42 | 43 | int getFinalNumIteration() const; 44 | 45 | bool hasConverged() const; 46 | 47 | virtual ~GRegistration(); 48 | protected: 49 | 50 | virtual void computeTransformation(const Eigen::Matrix &guess); 51 | 52 | double transformation_epsilon_; 53 | int max_iterations_; 54 | 55 | //Original scanned point clouds 56 | float *x_, *y_, *z_; 57 | int points_number_; 58 | 59 | //Transformed point clouds 60 | float *trans_x_, *trans_y_, *trans_z_; 61 | 62 | bool converged_; 63 | int nr_iterations_; 64 | 65 | Eigen::Matrix final_transformation_, transformation_, previous_transformation_; 66 | 67 | bool target_cloud_updated_; 68 | 69 | // Reference map point 70 | float *target_x_, *target_y_, *target_z_; 71 | int target_points_number_; 72 | 73 | bool is_copied_; 74 | }; 75 | } 76 | 77 | #endif 78 | -------------------------------------------------------------------------------- /src/ndt_gpu/include/ndt_gpu/common.h: -------------------------------------------------------------------------------- 1 | #ifndef GPU_COMMON_H_ 2 | #define GPU_COMMON_H_ 3 | 4 | #include 5 | #include 6 | 7 | #define CUDAH __forceinline__ __host__ __device__ 8 | #define BLOCK_SIZE_X 1024 9 | #define BLOCK_SIZE_X2 512 10 | #define BLOCK_SIZE_X3 256 11 | 12 | #define BLOCK_X 16 13 | #define BLOCK_Y 16 14 | 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input_matrices; 25 | } 26 | 27 | void SymmetricEigensolver3x3::setEigenvectors(double *eigenvectors) 28 | { 29 | eigenvectors_ = eigenvectors; 30 | } 31 | 32 | void SymmetricEigensolver3x3::setEigenvalues(double *eigenvalues) 33 | { 34 | eigenvalues_ = eigenvalues; 35 | } 36 | 37 | double* SymmetricEigensolver3x3::getBuffer() const 38 | { 39 | return buffer_; 40 | } 41 | 42 | void SymmetricEigensolver3x3::memFree() 43 | { 44 | if (!is_copied_) { 45 | if (buffer_ != NULL) { 46 | checkCudaErrors(cudaFree(buffer_)); 47 | buffer_ = NULL; 48 | } 49 | 50 | if (maxAbsElement_ != NULL) { 51 | checkCudaErrors(cudaFree(maxAbsElement_)); 52 | maxAbsElement_ = NULL; 53 | } 54 | 55 | if (norm_ != NULL) { 56 | checkCudaErrors(cudaFree(norm_)); 57 | norm_ = NULL; 58 | } 59 | 60 | if (i02_ != NULL) { 61 | checkCudaErrors(cudaFree(i02_)); 62 | i02_ = NULL; 63 | } 64 | } 65 | } 66 | } 67 | -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /src/ndt_mapping_localization/image.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ameyskulkarni/LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU/b930547b1e0054163324a0666f7e2785d4a3d4f3/src/ndt_mapping_localization/image.png -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug report 3 | about: For filing confirmed bugs 4 | title: '' 5 | labels: bug 6 | assignees: ayrton04 7 | 8 | --- 9 | 10 | 11 | 12 | ## Bug report 13 | 14 | **Required Info:** 15 | 16 | - Operating System: 17 | - 18 | - Installation type: 19 | - 20 | - Version or commit hash: 21 | - 22 | 23 | #### Steps to reproduce issue 24 | 25 | 26 | #### Expected behavior 27 | 28 | #### Actual behavior 29 | 30 | #### Additional information 31 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/.github/ISSUE_TEMPLATE/feature_request.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Feature request 3 | about: For requesting new features 4 | title: '' 5 | labels: feature request 6 | assignees: ayrton04 7 | 8 | --- 9 | 10 | ## Feature request 11 | 12 | #### Feature description 13 | 14 | 15 | #### Implementation considerations 16 | 17 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/.gitignore: -------------------------------------------------------------------------------- 1 | doc/html 2 | *.cproject 3 | *.project 4 | *.settings 5 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/README.md: -------------------------------------------------------------------------------- 1 | robot_localization 2 | ================== 3 | 4 | robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. 5 | 6 | Please see documentation here: http://docs.ros.org/melodic/api/robot_localization/html/index.html 7 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/doc/.templates/full_globaltoc.html: -------------------------------------------------------------------------------- 1 |

{{ _('Table Of Contents') }}

2 | {{ toctree(includehidden=True) }} 3 | 4 |

{{ _('Further Documentation') }}

5 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/doc/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ../CHANGELOG.rst -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/doc/images/figure1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ameyskulkarni/LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU/b930547b1e0054163324a0666f7e2785d4a3d4f3/src/ndt_mapping_localization/src/robot_localization/doc/images/figure1.png -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/doc/images/rl_small.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ameyskulkarni/LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU/b930547b1e0054163324a0666f7e2785d4a3d4f3/src/ndt_mapping_localization/src/robot_localization/doc/images/rl_small.png -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/doc/manifest.yaml: -------------------------------------------------------------------------------- 1 | actions: [] 2 | authors: Tom Moore 3 | brief: '' 4 | bugtracker: '' 5 | depends: 6 | - catkin 7 | - eigen 8 | - diagnostic_updater 9 | - cmake_modules 10 | - tf2 11 | - nav_msgs 12 | - roscpp 13 | - rostest 14 | - tf2_ros 15 | - message_generation 16 | - message_filters 17 | - tf2_geometry_msgs 18 | - sensor_msgs 19 | - message_runtime 20 | - std_msgs 21 | - roslint 22 | - rosunit 23 | - diagnostic_msgs 24 | - geographic_msgs 25 | - xmlrpcpp 26 | - python-catkin-pkg 27 | - geometry_msgs 28 | - rosbag 29 | description: The robot_localization package provides nonlinear state estimation through 30 | sensor fusion of an abritrary number of sensors. 31 | license: BSD 32 | maintainers: Tom Moore 33 | msgs: [] 34 | package_type: package 35 | repo_url: '' 36 | srvs: 37 | - SetPose 38 | - SetDatum 39 | url: http://ros.org/wiki/robot_localization 40 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/doc/robot_localization_ias13_revised.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ameyskulkarni/LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU/b930547b1e0054163324a0666f7e2785d4a3d4f3/src/ndt_mapping_localization/src/robot_localization/doc/robot_localization_ias13_revised.pdf -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/doc/user_contributed_tutorials.rst: -------------------------------------------------------------------------------- 1 | User-Contributed Tutorials 2 | ########################## 3 | 4 | Here's a list of user-contributed tutorials for robot_localization! 5 | 6 | Tutorials 7 | ========= 8 | 9 | * `ros-sensor-fusion-tutorial `_ 10 | A comprehensive end-to-end tutorial for setting up robot_localization for sensor fusion, as well as running through the necessary concepts. (Includes a practical example of setting it up with ultrasonic beacons!) 11 | 12 | * `Kapernikov: The ROS robot_localization package `_ 13 | The documentation of the robot_localization package is quite clear once you know how it works. However, it lacks a hands-on tutorial to help you with your first steps. There are some great examples on how to set up the robot_localization package, but they require good working hardware. This tutorial tries to bridge the gap, using the turtlesim package as a virtual robot. 14 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/include/robot_localization/ros_filter_types.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. 3 | * All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions 7 | * are met: 8 | * 9 | * 1. Redistributions of source code must retain the above copyright 10 | * notice, this list of conditions and the following disclaimer. 11 | * 2. Redistributions in binary form must reproduce the above 12 | * copyright notice, this list of conditions and the following 13 | * disclaimer in the documentation and/or other materials provided 14 | * with the distribution. 15 | * 3. Neither the name of the copyright holder nor the names of its 16 | * contributors may be used to endorse or promote products derived 17 | * from this software without specific prior written permission. 18 | * 19 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 20 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 21 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 22 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 23 | * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 24 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 25 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 26 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 28 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 29 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 30 | * POSSIBILITY OF SUCH DAMAGE. 31 | */ 32 | 33 | #ifndef ROBOT_LOCALIZATION_ROS_FILTER_TYPES_H 34 | #define ROBOT_LOCALIZATION_ROS_FILTER_TYPES_H 35 | 36 | #include "robot_localization/ros_filter.h" 37 | #include "robot_localization/ekf.h" 38 | #include "robot_localization/ukf.h" 39 | 40 | namespace RobotLocalization 41 | { 42 | 43 | typedef RosFilter RosEkf; 44 | typedef RosFilter RosUkf; 45 | 46 | } 47 | 48 | #endif // ROBOT_LOCALIZATION_ROS_FILTER_TYPES_H 49 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/launch/dual_ekf_navsat_example.launch: -------------------------------------------------------------------------------- 1 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/launch/ekf_nodelet_template.launch: -------------------------------------------------------------------------------- 1 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 17 | 18 | 19 | 26 | 27 | 28 | 29 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/launch/ekf_template.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/launch/ukf_template.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/nodelet_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | ekf_localization_node as nodelet 7 | 8 | 9 | 10 | 11 | 14 | 15 | ukf_localization_node as nodelet 16 | 17 | 18 | 19 | 20 | 23 | 24 | navsat_transform_node as nodelet 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robot_localization 4 | 2.6.5 5 | Provides nonlinear state estimation through sensor fusion of an abritrary number of sensors. 6 | 7 | Tom Moore 8 | 9 | BSD 10 | 11 | http://ros.org/wiki/robot_localization 12 | 13 | Tom Moore 14 | 15 | catkin 16 | 17 | cmake_modules 18 | diagnostic_msgs 19 | diagnostic_updater 20 | eigen 21 | eigen_conversions 22 | geographic_msgs 23 | geometry_msgs 24 | message_filters 25 | nav_msgs 26 | nodelet 27 | roscpp 28 | sensor_msgs 29 | std_msgs 30 | std_srvs 31 | tf2 32 | tf2_geometry_msgs 33 | tf2_ros 34 | xmlrpcpp 35 | yaml-cpp 36 | 37 | message_generation 38 | python-catkin-pkg 39 | roslint 40 | 41 | message_runtime 42 | 43 | rosbag 44 | rostest 45 | rosunit 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | - builder: sphinx 2 | sphinx_root_dir: doc 3 | - builder: doxygen 4 | output_dir: api 5 | file_patterns: '*.cpp *.h *.dox *.md' 6 | exclude_patterns: '*/test/*' 7 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/src/ekf_localization_node.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. 3 | * All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions 7 | * are met: 8 | * 9 | * 1. Redistributions of source code must retain the above copyright 10 | * notice, this list of conditions and the following disclaimer. 11 | * 2. Redistributions in binary form must reproduce the above 12 | * copyright notice, this list of conditions and the following 13 | * disclaimer in the documentation and/or other materials provided 14 | * with the distribution. 15 | * 3. Neither the name of the copyright holder nor the names of its 16 | * contributors may be used to endorse or promote products derived 17 | * from this software without specific prior written permission. 18 | * 19 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 20 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 21 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 22 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 23 | * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 24 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 25 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 26 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 28 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 29 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 30 | * POSSIBILITY OF SUCH DAMAGE. 31 | */ 32 | 33 | #include "robot_localization/ros_filter_types.h" 34 | 35 | #include 36 | 37 | #include 38 | 39 | int main(int argc, char **argv) 40 | { 41 | ros::init(argc, argv, "ekf_navigation_node"); 42 | 43 | ros::NodeHandle nh; 44 | ros::NodeHandle nh_priv("~"); 45 | 46 | RobotLocalization::RosEkf ekf(nh, nh_priv); 47 | ekf.initialize(); 48 | ros::spin(); 49 | 50 | return EXIT_SUCCESS; 51 | } 52 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/src/navsat_transform_node.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. 3 | * All rights reserved. 4 | * 5 | * Redistribution and use in source and binary forms, with or without 6 | * modification, are permitted provided that the following conditions 7 | * are met: 8 | * 9 | * 1. Redistributions of source code must retain the above copyright 10 | * notice, this list of conditions and the following disclaimer. 11 | * 2. Redistributions in binary form must reproduce the above 12 | * copyright notice, this list of conditions and the following 13 | * disclaimer in the documentation and/or other materials provided 14 | * with the distribution. 15 | * 3. Neither the name of the copyright holder nor the names of its 16 | * contributors may be used to endorse or promote products derived 17 | * from this software without specific prior written permission. 18 | * 19 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 20 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 21 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 22 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 23 | * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 24 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 25 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 26 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 28 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 29 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 30 | * POSSIBILITY OF SUCH DAMAGE. 31 | */ 32 | 33 | #include "robot_localization/navsat_transform.h" 34 | 35 | #include 36 | 37 | int main(int argc, char **argv) 38 | { 39 | ros::init(argc, argv, "navsat_transform_node"); 40 | 41 | ros::NodeHandle nh; 42 | ros::NodeHandle nh_priv("~"); 43 | 44 | 45 | RobotLocalization::NavSatTransform trans(nh, nh_priv); 46 | ros::spin(); 47 | 48 | return EXIT_SUCCESS; 49 | } 50 | 51 | 52 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/srv/FromLL.srv: -------------------------------------------------------------------------------- 1 | geographic_msgs/GeoPoint ll_point 2 | --- 3 | geometry_msgs/Point map_point 4 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/srv/GetState.srv: -------------------------------------------------------------------------------- 1 | time time_stamp 2 | string frame_id 3 | --- 4 | # State vector: x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az 5 | float64[15] state 6 | 7 | # Covariance matrix in row-major order 8 | float64[225] covariance 9 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/srv/SetDatum.srv: -------------------------------------------------------------------------------- 1 | geographic_msgs/GeoPose geo_pose 2 | --- 3 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/srv/SetPose.srv: -------------------------------------------------------------------------------- 1 | geometry_msgs/PoseWithCovarianceStamped pose 2 | --- 3 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/srv/ToLL.srv: -------------------------------------------------------------------------------- 1 | geometry_msgs/Point map_point 2 | --- 3 | geographic_msgs/GeoPoint ll_point 4 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/srv/ToggleFilterProcessing.srv: -------------------------------------------------------------------------------- 1 | bool on 2 | --- 3 | bool status 4 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/test/record_all_stats.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | ./stat_recorder.sh test_ekf_localization_node_bag1.test $1/ekf1.txt 4 | ./stat_recorder.sh test_ekf_localization_node_bag2.test $1/ekf2.txt 5 | ./stat_recorder.sh test_ekf_localization_node_bag3.test $1/ekf3.txt 6 | 7 | ./stat_recorder.sh test_ukf_localization_node_bag1.test $1/ukf1.txt 8 | ./stat_recorder.sh test_ukf_localization_node_bag2.test $1/ukf2.txt 9 | ./stat_recorder.sh test_ukf_localization_node_bag3.test $1/ukf3.txt 10 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/test/stat_recorder.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | rm $2 4 | echo "x = [" > $2 5 | 6 | i="0" 7 | 8 | while [ $i -lt 30 ] 9 | do 10 | rostest robot_localization $1 output_final_position:=true output_location:=$2 11 | i=$[$i+1] 12 | sleep 3 13 | done 14 | 15 | echo "]" >> $2 16 | echo "mean(x)" >> $2 17 | echo "sqrt(sum((4 * std(x)).^2))" >> $2 18 | 19 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/test/test1.bag: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ameyskulkarni/LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU/b930547b1e0054163324a0666f7e2785d4a3d4f3/src/ndt_mapping_localization/src/robot_localization/test/test1.bag -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/test/test2.bag: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ameyskulkarni/LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU/b930547b1e0054163324a0666f7e2785d4a3d4f3/src/ndt_mapping_localization/src/robot_localization/test/test2.bag -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/test/test3.bag: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ameyskulkarni/LIDAR-based-odometry-using-EKF-and-NDT-matching-algorithm-running-on-GPU/b930547b1e0054163324a0666f7e2785d4a3d4f3/src/ndt_mapping_localization/src/robot_localization/test/test3.bag -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/test/test_ekf.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/test/test_filter_base_diagnostics_timestamps.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | [false, false, false, 15 | false, false, false, 16 | true, false, false, 17 | false, false, false, 18 | false, false, false] 19 | 20 | [true, true, false, 21 | false, false, false, 22 | false, false, false, 23 | false, false, false, 24 | false, false, false] 25 | 26 | [false, false, false, 27 | false, false, false, 28 | true, true, true, 29 | true, true, true, 30 | false, false, false] 31 | 32 | [false, false, false, 33 | true, true, true, 34 | false, false, false, 35 | true, true, true, 36 | true, true, true] 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/test/test_robot_localization_estimator.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/robot_localization/test/test_ukf.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/vehicle_localization/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | vehicle_localization 4 | 0.1.0 5 | The WPI ndt localization package 6 | 7 | mahdi elhousni 8 | 9 | MIT 10 | 11 | catkin 12 | nav_msgs 13 | pcl_conversions 14 | pcl_ros 15 | roscpp 16 | std_msgs 17 | tf 18 | nav_msgs 19 | pcl_conversions 20 | pcl_ros 21 | roscpp 22 | std_msgs 23 | tf 24 | nav_msgs 25 | pcl_conversions 26 | pcl_ros 27 | roscpp 28 | std_msgs 29 | tf 30 | message_generation 31 | message_runtime 32 | 33 | 34 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/vehicle_mapping/launch/ndt_mapping.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/vehicle_mapping/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | vehicle_mapping 4 | 0.1.0 5 | The WPI ndt mapping package 6 | 7 | mahdi elhousni 8 | 9 | MIT 10 | 11 | catkin 12 | nav_msgs 13 | pcl_conversions 14 | pcl_ros 15 | roscpp 16 | std_msgs 17 | tf 18 | nav_msgs 19 | pcl_conversions 20 | pcl_ros 21 | roscpp 22 | std_msgs 23 | tf 24 | nav_msgs 25 | pcl_conversions 26 | pcl_ros 27 | roscpp 28 | std_msgs 29 | tf 30 | 31 | 32 | -------------------------------------------------------------------------------- /src/ndt_mapping_localization/src/vehicle_state/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | vehicle_state 4 | 0.1.0 5 | The vehicle_state package 6 | 7 | mahdi elhousni 8 | 9 | MIT 10 | 11 | 12 | catkin 13 | roscpp 14 | rospy 15 | std_msgs 16 | roscpp 17 | rospy 18 | std_msgs 19 | roscpp 20 | rospy 21 | std_msgs 22 | 23 | 24 | 25 | --------------------------------------------------------------------------------