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
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.
Our mapping pipeline is based on
libpointmatcher. Here is a tutorial on how to use our packages.
libpointmatcher_ros: A bridge between
norlab_icp_mapper: Our mapping library based on ICP
norlab_icp_mapper_ros: A bridge between
Controllers and Teach & Repeat
norlab_controllers: A C++ library for path-following control
norlab_controllers_ros: ROS wrapper for
wiln: A lidar-based Teach-and-Repeat framework designed to enable outdoor autonomous navigation in harsh weather. Published in
Kilometer-scale autonomous navigation in subarctic forests: challenges and lessons learned.
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.
These tools are based on
rosbags for working with rosbags. Hats off to the team at Ternaris for developing and maintaining it.
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