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开源软件介绍(OpenSource Introduction)：

pcl_localization_ros2

A ROS2 package of 3D LIDAR-based Localization using PCL.

Green: path, Red: map
(the 5x5 grids in size of 50m × 50m)

IO

• input
  /cloud (sensor_msgs/PointCloud2)
  /map (sensor_msgs/PointCloud2)
  /initialpose (geometry_msgs/PoseStamed)(when set_initial_pose is false)
  /odom (nav_msgs/Odometry)(optional)
  /imu (sensor_msgs/Imu)(optional)

• output
  /pcl_pose (geometry_msgs/PoseStamped)
  /path (nav_msgs/Path)
  /initial_map (sensor_msgs/PointCloud2)(when use_pcd_map is true)

params

demo

demo data(ROS1) by Tier IV
https://data.tier4.jp/rosbag_details/?id=212
The Velodyne VLP-16 was used in this data.

Before running, put bin_tc-2017-10-15-ndmap.pcd into your map directory and
edit the map_path parameter of localization.yaml in the param directory accordingly.

rviz2 -d src/pcl_localization_ros2/rviz/localization.rviz
ros2 launch pcl_localization_ros2 pcl_localization.launch.py
ros2 bag play -s rosbag_v2 tc_2017-10-15-15-34-02_free_download.bag

Green: path, Red: map
(the 5x5 grids in size of 50m × 50m)