KISS-ICP ROS wrappers

This node is just an application example on how to use the KISS-ICP C++ API. It's still considered work in progress and we are very happy to receive any contribution from the comunity 👼

kiss_icp_ros.mp4

ROS 2

How to build

You should not need any extra dependency, just clone and build:

git clone https://github.com/PRBonn/kiss-icp
colcon build
source ./install/setup.bash

How to run

The only required argument to provide is the topic name so KISS-ICP knows which PointCloud2 to process:

ros2 launch kiss_icp odometry.launch.py bagfile:=<path_to_rosbag> topic:=<topic_name>

You can optionally launch the node with any bagfile, and play the bagfiles on a different shell:

ros2 launch kiss_icp odometry.launch.py topic:=<topic_name>

and then,

ros2 bag play <path>*.bag

ROS 1

How to build

You should not need any extra dependency, just clone and build:

cd ~/catkin_ws/
git clone https://github.com/PRBonn/kiss-icp
catkin build
source devel/setup.bash

How to run

The only required argument to provide is the topic name so KISS-ICP knows which PointCloud2 to proces:

roslaunch kiss_icp odometry.launch bagfile:=<path_to_rosbag> topic:=<topic_name>

You can optionally launch the node with any bagfile, and play the bagfiles on a different shell:

roslaunch kiss_icp odometry.launch topic:=<topic_name>

and then,

rosbag play <path>*.bag

Out of source builds

Good news! If you don't have git or you don't need to change the core KISS-ICP library, you can just copy paste this folder into your ROS1/ROS2 workspace and build as usual. The build system will fetch the latest stable release for you.

Looking how to run KITTI on ROS along with KISS-ICP?

I believe you could use the python API instead, to avoid converting all the data to a format that is not the original one. If you still insist in doing it, I've created a separate repository for this, just clone and build this package