ndt_slam

How to use

1. Build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/RyuYamamoto/ndt_slam.git
cd ~/ros2_ws && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. Run

launch ndt_slam.

ros2 launch ndt_slam ndt_slam.launch.xml

play rosbag file.

ros2 bag play <ROSBAG PATH> --clock 100

save pcd map.

ros2 service call /save_map std_srvs/srv/Empty
# PCD Map are saved in /tmp/map.pcd

Dependency package

ndt_omp