GTSAMLoopClosure_ROS2

Overview

This repository is a ROS2 implementation of Loop Closure for LiDAR SLAM, modified from SimpleLoopClosure.
It is a simple implementation using pose graph optimization with GTSAM and radius search with nanoflann.
It was created to obtain Loop Closed point cloud maps from an algorithm that provides only LiDAR odometry.

Build

Please install GTSAM4.x.

  colcon build

Parameters

Please refer to Parameters.md.

Requirements for LiDAR Odometry

• LiDAR odometry must publish "nav_msgs::Odometry" format odometry and a paired LiDAR scan.
• The timestamps of the two topics must be almost the same time.