This repository is the ros package for

"Localization Algorithm Design and Evaluationfor an Autonomous Pollination Robot"

pblished in ION GNSS+ 2019

Run it:

roslaunch aloam_velodyne aloam_velodyne_HDL_32.launch

roslaunch nav_filter test_online.launch

roslaunch gicp_localization test_online.launch

rosbag play --pause --clock file.bag

Result:

Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and Advanced implementation of LOAM.