rf2o_laser_odometry

https://github.com/MAPIRlab/rf2o_laser_odometry 

  
            # topic where the lidar scans are being published
                  # topic where tu publish the odometry estimations
                       # wheter or not to publish the tf::transform (base->odom)
                # frame_id (tf) of the mobile robot base. A tf transform from the laser_frame to the base_frame is mandatory
                    # frame_id (tf) to publish the odometry estimations    
     # (Odom topic) Leave empty to start at point (0,0)
                                # Execution frequency.
                           # verbose
  
  

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 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;