ROS2 Support

[Juan Miguel Jimeno]

HI, just curious will ROS2 support be part of your roadmap? Thank you!

[koide3]

I will not add a ROS2 support for this package because I'm planning to release a new localization package with ROS1/ROS2 support.

[Juan Miguel Jimeno]

Thanks for your reply. Do you have a rough estimate of its release date? Looking forward. Thank you

[koide3]

I expect it would be around Jan ~ Mar in 2023 (can largely vary).

[Juan Miguel Jimeno]

Got it. Thank you!

[Alex Beh]

@grassjelly Maybe you can check this repo for ROS2 Implementation of hdl_localization.

@koide3 May I know the difference between hdl_localization & the new coming localization package? Do you have any preprint paper for that?

[Juan Miguel Jimeno]

Thanks @Alex-Beh. Have you tried this ROS2 port yet?

[koide3]

@koide3 May I know the difference between hdl_localization & the new coming localization package? Do you have any preprint paper for that?

I wrote it from scratch with the tight coupling of LiDAR and IMU costs that make it extremely robust to sensor motion and degeneration. I will submit it to some conference but the manuscript has not been available yet. Stay tuned!

[Juan Miguel Jimeno]

@koide3 that sounds really promising. Looking forward to the release. Do you happen to know more 3D localization algorithm that supports ROS2?

[pyc5714]

@grassjelly @koide3 Did you implement the hdl_localization using this repo in ROS2??

I'm trying to get that going, but I haven't running yet because there seems to be some errrors I need to fix with the dependecy and launch file..