Hello everyone !
On behalf of the Northern Robotics Laboratory of Université Laval, I wish you a wonderful holiday season and a happy new year !
Even though we posted Christmas videos in the last years, we didn’t had enough time this year. Despite that, we have a small gift for all the ROS community, especially for everyone who are now using Humble !
Indeed, this year was a year of change and update for us, as we moved from melodic to humble ! I’m proud to share the migration work that was done by our lab this year ! Here are all the packages and tools that have been migrated, developed and tested on our platforms.
Mapping pipeline
Our mapping pipeline is based on libpointmatcher. Here is a tutorial on how to use our packages.
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libpointmatcher_ros: A bridge betweenlibpointmatcherand ROS -
norlab_icp_mapper: Our mapping library based on ICP -
norlab_icp_mapper_ros: A bridge betweennorlab_icp_mapperand ROS
Controllers and Teach & Repeat
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norlab_controllers: A C++ library for path-following control -
norlab_controllers_ros: ROS wrapper fornorlab_controllers -
wiln: A lidar-based Teach-and-Repeat framework designed to enable outdoor autonomous navigation in harsh weather. Published inKilometer-scale autonomous navigation in subarctic forests: challenges and lessons learned.
Drivers
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roboclaw_ros(fork from Brad Bazemore’s driver) : ROS1 / ROS2 node for the RoboClaw motor controller -
Lslidar_ROS2_driver(fork) : ROS2 driver for Leishen LSC16 LiDAR. -
rs_driver(fork) : RoboSense LiDAR driver -
norlab_xsens_driver: Xsens MTi IMU Driver, compatible with ROS2. ETHZ-ASL’s original driver is not maintained anymore. Maintenance was transitioned to norlab.
Rosbag management
These tools are based on rosbags for working with rosbags. Hats off to the team at Ternaris for developing and maintaining it.
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rosbag-topic-compare: Pure Python package to determine the topic consistency of a rosbag dataset -
rosbag-topic-remove: Pure Python package to delete topics from a rosbag, with glob-like wildcard pattern matching
