first simple version

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(fub_lidar_odometry)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  rospy
+  sensor_msgs
+  std_msgs
+  fub_velodyne_segmenter_msgs
+  fub_feature_common
+  pole_based_localization
+  visualization_msgs
+  pcl_ros
+  pcl_conversions
+  roscpp
+  tf2
+  tf2_ros
+  tf2_msgs
+  nodelet
+)
+
+find_package(PCL REQUIRED COMPONENTS common search sample_consensus segmentation registration recognition)
+
+find_package(fub_cmake REQUIRED)
+include(FUB)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"1234 KommentareWeitersagenSpeichernAusblendenmeldencrosspost
+
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Pole.msg
+#   PoleArray.msg
+#   PoleMatch.msg
+#   PoleMatchArray.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs#   sensor_msgs#   std_msgs#   visualization_msgs
+#)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  CATKIN_DEPENDS
+    message_runtime
+		sensor_msgs
+		pole_based_localization
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/pole_based_localization.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+add_executable(fub_lidar_odometry
+	src/main.cpp
+)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(fub_lidar_odometry
+	${catkin_LIBRARIES}
+	sqlite3
+	pcl_registration
+)
+
+## Declare a C++ library
+add_library(fub_lidar_odometry_nodelet
+	src/LidarOdometry.cpp
+)
+
+target_link_libraries(fub_lidar_odometry_nodelet
+	${catkin_LIBRARIES}
+	sqlite3
+	pcl_registration
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+install(
+	TARGETS
+		fub_lidar_odometry
+		fub_lidar_odometry_nodelet
+	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark other files for installation (e.g. launch and bag files, etc.)
+install(
+	DIRECTORY launch
+	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(
+	FILES nodelet_plugins.xml
+	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_pole_based_localization.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

include/LidarOdometry.h

+#ifndef FUB_LIDAR_ODOMETRY_H
+#define FUB_LIDAR_ODOMETRY_H
+
+#include <ros/ros.h>
+#include <nodelet/nodelet.h>
+#include <tf2_ros/transform_listener.h>
+
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+
+#include <fub_feature_common/Poles.h>
+#include <fub_feature_common/Edges.h>
+#include <fub_feature_common/Features.h>
+
+
+namespace fub_lidar_odometry {
+
+
+class LidarOdometry : public nodelet::Nodelet{
+public:
+    LidarOdometry();
+    virtual ~LidarOdometry();
+    virtual void onInit() override;
+
+protected:
+    void callbackFeatures(const fub_feature_common::Features& features);
+
+    ros::Subscriber mFeaturesSubscriber;
+    std::map<long, fub_feature_common::Pole> mLastPoles;
+    std::map<long, fub_feature_common::Corner> mLastCorners;
+    std::map<long, fub_feature_common::Edge> mLastEdges;
+};
+}
+
+#endif
+

nodelet_plugins.xml

+<library path="lib/libfub_lidar_odometry_nodelet">
+        <class name="fub_lidar_odometry/Nodelet"
+                   type="fub_lidar_odometry::LidarOdometry"
+		   base_class_type="nodelet::Nodelet"
+	>
+		<description>
+                        nodelet for the lidar odometry
+		</description>
+	</class>
+</library>

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>fub_lidar_odometry</name>
+  <version>0.0.0</version>
+  <description>Lidar odometry.</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="n.steinke@fu-berlin.de">Nicolai Steinke</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/pole_based_localization</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <depend>fub_feature_common</depend>
+  <depend>pole_based_localization</depend>
+  <build_depend>fub_velodyne_segmenter_msgs</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>visualization_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <depend>nodelet</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+      <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+  </export> 
+</package>

src/LidarOdometry.cpp

+#include "LidarOdometry.h"
+#include <pcl_ros/point_cloud.h>
+#include <pcl/registration/transformation_estimation_svd.h>
+#include <pcl/registration/correspondence_rejection_sample_consensus.h>
+#include <pcl/registration/correspondence_rejection_median_distance.h>
+#include <pcl/common/transformation_from_correspondences.h>
+#include <pcl/common/poses_from_matches.h>
+
+/* -------------------------------------------------------------------------- */
+
+/** Lidar odometry for velodyne sensors
+ **
+ ** @ingroup @@
+ */
+
+namespace fub_lidar_odometry{
+
+LidarOdometry::LidarOdometry()
+{}
+
+LidarOdometry::~LidarOdometry()
+{
+}
+
+void LidarOdometry::onInit()
+{
+    ros::NodeHandle nh;
+    mFeaturesSubscriber = nh.subscribe(nh.resolveName("/pole_based_localization/detected_features"), 11, &LidarOdometry::callbackFeatures, this);
+}
+
+
+void LidarOdometry::callbackFeatures(const fub_feature_common::Features& features)
+{   
+/*
+    // get own position
+    std_msgs::Header header;
+    header.stamp = ros::Time::now();
+    header.frame_id = "base_link";
+    geometry_msgs::TransformStamped transformStamped;
+
+    // take time
+    auto start = std::chrono::system_clock::now();
+
+    try{
+      //  mTfBuffer.canTransform("utm", "base_link", header.stamp, ros::Duration(5.0));
+        transformStamped = mTfBuffer.lookupTransform("utm", "base_link", header.stamp, ros::Duration(1.0));
+    }
+    catch (tf2::TransformException &ex) {
+        ROS_WARN("%s",ex.what());
+        return;
+    }
+
+    geometry_msgs::PointStamped psIn, posUTM;
+    psIn.header = header;
+    tf2::doTransform(psIn, posUTM, transformStamped);*/
+
+    ROS_INFO("got features");
+    pcl::PointCloud<pcl::PointXYZ> cloud_old;
+    pcl::PointCloud<pcl::PointXYZ> cloud_new;
+
+    // correlate last features with current features
+    for(auto pole : features.poles.poles){
+        if(mLastPoles.find(pole.trackingId) != mLastPoles.end()){
+            pcl::PointXYZ po(mLastPoles.at(pole.trackingId).position.x, mLastPoles.at(pole.trackingId).position.y, 0);
+            pcl::PointXYZ pn(pole.position.x, pole.position.y, 0);
+            cloud_old.push_back(po);
+            cloud_new.push_back(pn);
+        }
+    }
+
+    //TODO: edges and walls
+
+    // calculate displacement
+    pcl::registration::TransformationEstimationSVD<pcl::PointXYZ, pcl::PointXYZ, double> pclSVD;
+    pcl::registration::TransformationEstimation<pcl::PointXYZ, pcl::PointXYZ, double>::Matrix4 trans;
+    pclSVD.estimateRigidTransformation(cloud_old, cloud_new, trans);
+    geometry_msgs::Pose result;
+
+    result.position.x = 0.0;
+    result.position.y = 0.0;
+    result.position.z = 0.0;
+
+    if(!std::isnan(trans(1)) && !std::isnan(trans(12)) && !std::isnan(trans(13))){
+        result.position.x = trans(12);
+        result.position.y = trans(13);
+        result.orientation.z = trans(1);
+    }
+
+    result.orientation.x = 0.0;
+    result.orientation.y = 0.0;
+    result.orientation.z = 0.0;
+    result.orientation.w = 1.0;
+
+    // publish odometry
+    ROS_ERROR_STREAM("x, y, yaw: " << result.position.x << ", " << result.position.y << ", " << result.orientation.z);
+}
+
+
+}
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(fub_lidar_odometry::LidarOdometry, nodelet::Nodelet)

src/main.cpp

+#include <ros/ros.h>
+#include <nodelet/loader.h>
+
+/** Starting point for the node. It instantiates the nodelet within the node
+ ** (alternatively the nodelet could be run in a standalone nodelet manager).
+ **
+ ** @param argc
+ ** @param argv
+ ** @return
+ **
+ ** @ingroup @@
+ */
+int main(int argc, char ** argv)
+{
+    ros::init(argc, argv, "LidarOdometry");
+
+	nodelet::Loader nodelet;
+	nodelet::M_string remappings(ros::names::getRemappings());
+	nodelet::V_string nodeletArgv(argv, argv + argc);
+
+    std::string nodeletName = "fub_lidar_odometry/Nodelet";
+    if (!nodelet.load(ros::this_node::getName(), nodeletName, remappings, nodeletArgv)) {
+		return -1;
+	}
+	ros::MultiThreadedSpinner spinner(4);
+    //spinner.spin(); // multi thread spinner
+    ros::spin();  // single thread spinner
+}