NDT Matching

pcl_apps::NdtMatchingComponent has these topic interface.

Input Topics	Type	Description
(param : ~/input_cloud_topic)	sensor_msgs::msg::PointCloud2	Input point cloud
(param : ~/reference_cloud_topic)	sensor_msgs::msg::PointCloud2	Reference point cloud
(param : ~/initial_pose_topic)	geometry_msgs::msg::PoseStamped	Initial pose of the ndt matching

Output Topics	Type	Description
~/current_relative_pose	geometry_msgs::msg::PoseStamped	Relative pose of the input_cloud in (param:~/reference_frame_id)

Parameter	Type	Description	Default	Dynamic
~/reference_frame_id	String	Frame ID of the reference input cloud	map	False
~/reference_cloud_topic	String	Topic name of the reference cloud	~/reference	False
~/input_cloud_topic	String	Topic name of the input cloud	~/input	False
~/initial_pose_topic	String	Initial pose topic	~/initial_pose	False
~/transform_epsilon	Double	Transform epsilon of the ndt matching	1.0	True
~/step_size	Double	Stap size of the ndt matching	0.1	True
~/resolution	Double	Resolution of the ndt	1.0	True
~/max_iterations	Int	Maximum nunber of iterations	35	True

Description

pcl_apps::NdtMatchingComponent subscribes input/reference point cloud and estimate relative pose between two point clouds.

Requirements

1. frame_id of the reference_cloud must be same
2. transform_epsilon,step_size,resolution must be over 0
3. max_iterations must be over 1

How to launch with single node

ros2 run  pcl_apps ndt_matching_node