durant35 / laser_scan_matcher Goto Github PK

What ROS distribution/OS this package is compatible with? I am using Ubuntu 18.04 ROS Melodic C++11 and getting build error:

/catkin_ws/src/laser_scan_matcher/src/laser_scan_matcher_nodelet.cpp:42:24: error: expected constructor, destructor, or type conversion before ‘(’ token
 PLUGINLIB_DECLARE_CLASS(laser_scan_matcher, LaserScanMatcherNodelet,LaserScanMatcherNodelet, nodelet::Nodelet);

Update 1: the fix for Ubuntu 18.x and 20.x is to replace

PLUGINLIB_DECLARE_CLASS(laser_scan_matcher, LaserScanMatcherNodelet,LaserScanMatcherNodelet, nodelet::Nodelet);

with this line

PLUGINLIB_EXPORT_CLASS(LaserScanMatcherNodelet, nodelet::Nodelet);

and rebuild the package.

• http://wiki.ros.org/laser_scan_matcher
• “An ICP variant using a point-to-line metric" Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008

https://censi.science/pub/research/2008-icra-plicp.pdf

Hi! Thanks for the repo! I tried it with my own system, and Twist part of the /odom seems to work perfectly, but the Position and orientation doesn't update, and is stuck at 0.0s.
Can you please help? Pose2D shows correctly