gicp_ros2

Package that register two PointClouds with generalized iterative closest point (GICP) on ROS 2.

Requirement and Build

You need PCL Library for process pointclouds.

Clone repository into your workspace.

cd ~/ros2_ws/src
git clone https://github.com/ismetatabay/gicp_ros2.git

build (ros2 terminal)

cd ~/ros2_ws
colcon build 

source ~/ros2_ws/install/setup.bash

Visualize Pointclouds with Rviz2 (ROS2)

ros2 launch gicp_ros2 gicp_launch.py

White: Source (input) pointcloud. Green: Targer pointcloud. Red: Transformed pointcloud.

Visualize Pointclouds with PCL Library

ros2 run gicp_ros2 viewer

White: Source (input) pointcloud. Green: Targer pointcloud. Red: Transformed pointcloud.