lidar-odometry
CommunityLidar odometry via robust scan matching.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Lidar odometry provides ego-motion estimates by matching consecutive laser scans or point clouds, delivering odometry data to supplement or replace wheel-based estimates.
Core Features & Use Cases
- Backends supported: rf2o_laser_odometry (2D), kiss-icp (3D), and scan_tools (2D) for scan matching.
- ROS 2 integration: outputs nav_msgs/Odometry and is designed to fuse with EKF or SLAM pipelines.
- Use Case: enhances localization in low-slip or feature-rich environments where wheel odometry is unreliable or biased.
Quick Start
Configure and run the lidar-odometry workflow with rf2o_laser_odometry or kiss-icp and integrate its odometry output into your EKF-based localization.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: lidar-odometry Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#lidar-odometry Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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