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;

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