This node provides a service server to process an ICP between two scans using [laser_scan_utils](https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils).
This node provides a service server to process an ICP between two scans using [laser_scan_utils](https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils). This library uses [CSM](https://github.com/AndreaCensi/csm).
This node also provides the following configuration files located in [config](./config) directory:
@@ -14,6 +14,9 @@ This node also provides the following configuration files located in [config](./
- ~**range_std_dev** (Double; default: 0.035; min: 0.01; max: 0.1) Standard deviation measurement noise in range in meters.
- ~**angle_std_dev** (Double; default: 0.05; min: 0.01; max: 0.2) Standard deviation measurement noise in angle in radians.
### CSM parameters
The description of each parameter can be found in [csm manual](https://github.com/AndreaCensi/csm/blob/master/csm_manual.pdf).
## Installation
#### IRI dependencies
...
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@@ -71,4 +74,4 @@ This package is distributed in the hope that it will be useful, but without any
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>
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You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>
