README.md

KISS-ICP ROS1 node

This node is just an application example on how to use the KISS-ICP C++ API. It's still considered work in progress and we are very happy to receive any contribution from the comunity 👼

How to build

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

cd ~/catkin_ws/
git clone https://github.com/PRBonn/kiss-icp 
catkin build
source devel/setup.bash

How to run

Example with ouster-bagfiles (newer college, etc)

roslaunch kiss_icp odometry.launch bagfile:=<path_to_rosbag> topic:=/os1_cloud_node/points

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

roslaunch kiss_icp odometry.launch topic:=/os1_cloud_node/points

and then,

rosbag play <path>*.bag

Special case: how to run on KITTI

In first instance, if you really need to run the experiments, just $ pip install kiss-icp and use the python API, it's definitely easier. If for whatever reason you insist in using the kitti2rosbag dataset, then we have provided a helper node that should correct all the mistakes present in the dataset. To launch it just do:

roslaunch kiss_icp kitti.launch bagfile:=2011_09_30_drive_0027_sync.bag

How to run the evaluation

This is WIP, any suggestion on how this should be done is more than welcome! Just open an issue with your proposal.