Add odom frame and ICP-based relocalization#9
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baishibona wants to merge 2 commits intoVectorRobotics:devfrom
Open
Add odom frame and ICP-based relocalization#9baishibona wants to merge 2 commits intoVectorRobotics:devfrom
baishibona wants to merge 2 commits intoVectorRobotics:devfrom
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Split the TF tree from map->sensor to map->odom->sensor following standard ROS conventions. The imu_preintegration node now publishes both odom->sensor (continuous) and map->odom (identity by default, updated by relocalization). Added global_localization.py (adapted from FAST_LIO_LOCALIZATION2) which performs ICP against a prior PCD map and publishes corrections on /map_to_odom. The node auto-launches when MAP_PATH env is set (local_mode=true).
alexlin2
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Apr 3, 2026
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alexlin2
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Looks fantastic. Just a few small thing that I commented
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Maybe this can be it's own package? since the relocalization is not specific to arise_slam, can in the future we might replace arise with fastlio2 or another SLAM method
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This should default to using the ENV MAP_PATH similar to
Addresses PR feedback: relocalization is SLAM-agnostic so it belongs in its own package. Moved global_localization.py and relocalization.launch.py into src/slam/global_localization/ as a proper ament_python package. Also default pcd_map_path from MAP_PATH env variable in the relocalization launch.
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Summary
map→sensortomap→odom→sensor(standard ROS convention)imu_preintegration_nodenow publishesodom→sensorTF (continuous) andmap→odomTF (identity by default, updated by relocalization via/map_to_odomtopic)global_localizationas a standalone SLAM-agnostic package — performs ICP against a prior PCD map, publishesmap→odomcorrectionsMAP_PATHenv is set (local_mode=true)ODOM_FRAMEparameter (default"odom") across config, launch, and parameter systemrelocalization.launch.pyalso available for manual launchTest plan
global_localizationpackage builds successfully (colcon build --packages-select global_localization)arise_slam_mid360with GTSAM installed and verify compilationMAP_PATH) — verifymap→odomis identity, TF tree ismap→odom→sensor/initialposeodomframe