This repository is obsolete. Now when kiss-icp is open sourced, please just use the original implementation :)

kiss-icp-ros

A wrapper around kiss-icp package that includes kiss-icp ros-node.
Please note, that the code was developed at the moment when source code was not available, so it uses binaries provided with pip package. It might not be the best way to use kiss-icp nowadays, as there is no way to change the source code from here, and the version might be old / not working

Licensing

This code uses kiss-icp -> see kiss-icp-license.txt

Dependencies

pip3 install kiss-icp scipy

If fail, try to follow the original kiss-icp README, install older version of numpy, update pip, etc.

Usage:

To run kiss-icp, run

roslaunch kiss_icp run_icp.launch [config:=<your config>] [points_in_topic:=<your point cloud topic>]

To run it on the bag-file, run

roslaunch kiss_icp run_icp_bag.launch [bagfile:=<your bagfile>] [config:=<your config>] [points_in_topic:=<your point cloud topic>]