change_detection

Geometric scene change detection between a base map and a new traversal, built for ROS2.

Requirements

• ROS2 Humble
• PCL, Eigen3, OpenMP
• optmap — must be built in the same workspace; this package depends on it for submap retrieval at runtime.

Build

From the workspace root:

colcon build --packages-select change_detection
source install/setup.bash

Run

ros2 launch change_detection change_detector_launch.py \
  pose_topic:=/dliom/odom_node/optmap_pose \
  desc_topic:=/optmap/pc_descriptor_node/descriptor

Parameters are set in cfg/change.yaml, cfg/ground.yaml, and cfg/manager.yaml.