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KISS-ICP ROS 2 Wrapper

How to build

You should not need any extra dependency, just clone and build:

git clone https://github.com/PRBonn/kiss-icp
colcon build
source ./install/setup.bash

How to run

The only required argument to provide is the topic name so KISS-ICP knows which PointCloud2 to process:

ros2 launch kiss_icp odometry.launch.py bagfile:=<path_to_rosbag> topic:=<topic_name>

You can optionally launch the node with any bagfile, and play the bagfiles on a different shell:

ros2 launch kiss_icp odometry.launch.py topic:=<topic_name>

and then,

ros2 bag play <path>*.bag

Out of source builds

Good news! If you don't have git or you don't need to change the core KISS-ICP library, you can just copy paste this folder into your ROS2 workspace and build as usual. The build system will fetch the latest stable release for you.

Looking how to run KITTI on ROS along with KISS-ICP?

I believe you could use the python API instead, to avoid converting all the data to a format that is not the original one. If you still insist in doing it, I've created a separate repository for this, just clone and build this package