lidarslam_ros2 Docs

ROS 2 LiDAR SLAM Docs

Pointcloud-map authoring, benchmark evidence, and browser-first map proof.

lidarslam_ros2 is organized around a practical public path: build a pointcloud map, validate it, and open it through Autoware-compatible map workflows.

RKO-LIO frontend graph_based_slam backend Foxglove proof path

Start Here 日本語で始める Map Your Bag

Autoware-compatible proof

The public flow publishes a live /map/pointcloud_map, writes map_projector_info.yaml, and keeps map verification in the documented path.

Open the Foxglove viewer path

Map cleanup with evidence

Save-time dynamic filtering reduces map size while preserving coarse footprint overlap. The validation reports track both reduction and tile overlap.

Start Here

Getting Started

Choose Docker, a local build, or your own bag without reading every workflow first.

Product Contract

Know the supported inputs, outputs, entrypoints, and explicit non-goals.

v1.0 Readiness

Run the fail-closed product audit and inspect every remaining evidence gate.

Distribution

Install the CLI, understand supported platforms, and see the binary-release boundary.

Operational Reliability

Understand failure artifacts, termination handling, recovery, and open reliability gates.

Pinned Real-data E2E

Inspect the nightly Jazzy gate from a fixed public MID-360 bag to a verified map bundle.

Autoware-Compatible Map Authoring

The shortest product-level summary of the supported public path.

Advanced Autoware Compatibility

Use the older NTU VIRAL viewer and dogfood route after the product path.

Autoware Foxglove

Open the map loader output in a browser-first viewer path.

Operations

Operator Workflows

Required topics, optional GNSS, packet paths, and map-save flows.

Benchmarking And Release Gate

Run the tracked benchmark suite and generate the published reports.

Comparison

See the current public position and benchmark-backed configuration summary.

Current Snapshot

Area	Current public position
Main path	`RKO-LIO` + `graph_based_slam`
Public map output	`pointcloud_map/` + `map_projector_info.yaml`
Browser proof	Foxglove path documented and smoke-tested
Long-loop evidence	`MID360`
Ground-truth benchmark	`NTU VIRAL tnp_01`
Save-time cleanup	dynamic filter with cross-dataset validation

Releases

Project

Local Preview

Build the docs:

python3 -m mkdocs build --strict

Serve them locally:

python3 -m mkdocs serve