rf2o_laser_odometry

https://github.com/MAPIRlab/rf2o_laser_odometry 

<launch>

  <node pkg="rf2o_laser_odometry" type="rf2o_laser_odometry_node" name="rf2o_laser_odometry" output="screen">
    <param name="laser_scan_topic" value="scan"/>        # topic where the lidar scans are being published
    <param name="odom_topic" value="odom_rf2o" />              # topic where tu publish the odometry estimations
    <param name="publish_tf" value="true" />                   # wheter or not to publish the tf::transform (base->odom)
    <param name="base_frame_id" value="base_link"/>            # frame_id (tf) of the mobile robot base. A tf transform from the laser_frame to the base_frame is mandatory
    <param name="odom_frame_id" value="odom" />                # frame_id (tf) to publish the odometry estimations    
    <param name="init_pose_from_topic" value="" /> # (Odom topic) Leave empty to start at point (0,0)
    <param name="freq" value="5.0"/>                            # Execution frequency.
    <param name="verbose" value="true" />                       # verbose
  </node>
  
</launch>

解决([rf2o] ERROR: Eigensolver couldn't find a solution. Pose is not updated) 如果激光扫描数据包含+/- Inf和/或NaNs，则无法计算odom协方差且没有任何反应 

https://github.com/artivis/rf2o_laser_odometry/commit/ae010765627e0446930599e3376a45ecaea2b422

@@ -292,7 +292,7 @@ void CLaserOdometry2D::createImagePyramid()
        //Inner pixels
        if ((u>1)&&(u<cols_i-2))
        {
          --  if (dcenter > 0.f)
          ++  if (std::isfinite(dcenter) && dcenter > 0.f)
          {
            float sum = 0.f;
            float weight = 0.f;
 @@ -316,7 +316,7 @@ void CLaserOdometry2D::createImagePyramid()
        //Boundary
        else
        {
          --  if (dcenter > 0.f)
          ++  if (std::isfinite(dcenter) && dcenter > 0.f)
          {
            float sum = 0.f;
            float weight = 0.f;