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feat(slam): add lidar SLAM and pointcloud processing packages

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X-lanni
2026-01-13 19:12:25 +08:00
parent dcb52622eb
commit ddef31d11a
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point_lio_ros2/package.xml
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<?xml version="1.0"?>
<package format="3">
<name>point_lio</name>
<version>0.0.0</version>
<description>
This is a modified version of LOAM which is original algorithm
is described in the following paper:
J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.
Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014.
</description>
<maintainer email="dflorea@uc.cl">Daniel Florea</maintainer>
<license>BSD</license>
<author email="dflorea@uc.cl">Daniel Florea</author>
<!-- ROS2 uses ament as build system -->
<buildtool_depend>ament_cmake</buildtool_depend>
<!-- Dependencies are now also categorized as build, build_export, and exec_depend -->
<depend>rclcpp</depend> <!-- roscpp in ROS1 is replaced by rclcpp in ROS2 -->
<depend>rclpy</depend> <!-- rospy is replaced by rclpy in ROS2 -->
<depend>sensor_msgs</depend>
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>tf2_ros</depend> <!-- tf in ROS1 is replaced by tf2 in ROS2 -->
<depend>pcl_ros</depend> <!-- For PCL support -->
<depend>pcl_conversions</depend> <!-- For PCL support -->
<depend>visualization_msgs</depend> <!-- For visualization_msgs support -->
<!-- <depend>livox_ros_driver2</depend> -->
<!-- test_depend remains the same, but make sure the testing tools you use are compatible with ROS2 -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>