├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── icp.yaml ├── input_filters_mid360.yaml ├── input_filters_ouster_os1.yaml ├── input_filters_velodyne_puck.yaml ├── node_params.yaml └── plane_noisy.pcd ├── doc ├── anymal.png ├── frames.png ├── localization_forest.gif ├── localization_urban.gif ├── sensor_module.png └── smb.png ├── include └── icp_localization_ros2 │ ├── ICPlocalization.hpp │ ├── Parameters.hpp │ ├── RangeDataAccumulator.hpp │ ├── common │ ├── assert.hpp │ ├── math.hpp │ ├── output.hpp │ ├── time.hpp │ └── typedefs.hpp │ ├── helpers.hpp │ └── transform │ ├── FrameTracker.hpp │ ├── ImuInterpolationBuffer.hpp │ ├── ImuReading.hpp │ ├── ImuTracker.hpp │ ├── RigidTransform.hpp │ ├── TfPublisher.hpp │ ├── TransformInterpolationBuffer.hpp │ ├── Twist.hpp │ ├── TwistIntegrationBuffer.hpp │ ├── TwistIntegrationBufferRos.hpp │ └── math.hpp ├── launch └── bringup.launch.py ├── package.xml └── src ├── ICPlocalization.cpp ├── RangeDataAccumulator.cpp ├── common ├── math.cpp └── time.cpp ├── helpers.cpp ├── localizer_node.cpp └── transform ├── FrameTracker.cpp ├── ImuInterpolationBuffer.cpp ├── ImuReading.cpp ├── ImuTracker.cpp ├── RigidTransform.cpp ├── TfPublisher.cpp ├── TransformInterpolationBuffer.cpp ├── Twist.cpp ├── TwistIntegrationBuffer.cpp └── TwistIntegrationBufferRos.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/baiyeweiguang/icp_localization_ros2/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/baiyeweiguang/icp_localization_ros2/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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