Exwayz SDK
Installation
Releases ship as .deb (recommended) and .tar.gz. The .deb package handles dependency and version management automatically.
sudo apt install -fy <path-to-exwayz-release>.deb
Installs to /opt/exwayz/exwayz_3d_mapping.
Activate with the token provided at delivery:
exwayz_license -q <token>
Run Mapping once offline to produce the reference map, then deploy Localization on your robot. The two components are independent: Mapping can run on a workstation, Localization runs on your embedded hardware in real time.
Pipeline
The mapping pipeline is a sequence of CLI executables run offline. Choose the workflow that matches your environment.
exwayz_slam --bag <path/to/recording.bag> --bag-lidar /lidar_topic \ -p narrow -o ./slam_session --no-date
exwayz_loop_closure \ -i ./slam_session/frames \ -t ./slam_session/traj_odometry.ply \ -p Odometry -d 5.0
exwayz_merge_cloud \ -i ./slam_session/frames \ -t ./slam_session/1_loop_closure/traj_loop_closure.ply \ -o ./map_indoor.las
exwayz_slam --bag <path/to/recording.bag> --bag-lidar /lidar_topic \ -p wide -o ./slam_session --no-date
exwayz_loop_closure \ -i ./slam_session/frames \ -t ./slam_session/traj_odometry.ply \ -p Odometry -d 5.0
exwayz_georef \ -t ./slam_session/traj_odometry.ply \ -g <path/to/gnss.ply> \ -l ./slam_session/1_loop_closure/lc_observations.yamlc \ -s 1.0 -r -o ./traj_georef.ply
exwayz_merge_cloud \ -i ./slam_session/frames \ -t ./traj_georef.ply \ -o ./map_outdoor.las
ROS / ROS 2
Exwayz ships as a native ROS package. It subscribes to your LiDAR topic and publishes localization outputs directly into your TF tree.
| Topic | Type | Description | |
|---|---|---|---|
| IN | sensor_msgs/PointCloud2 |
Input point cloud | |
| OUT | /exwayz/slam/odometry | nav_msgs/Odometry |
6DoF relative pose |
| OUT | /exwayz/slam/pointcloud2 | sensor_msgs/PointCloud2 |
Motion-compensated point cloud |
| OUT | /exwayz/slam/status | exwayz_msgs/ExwayzStatus |
Algorithm status |
| Topic | Type | Description | |
|---|---|---|---|
| IN | sensor_msgs/PointCloud2 |
Input point cloud | |
| IN | nav_msgs/Odometry |
Initialization pose | |
| OUT | /exwayz/relocalization/odometry | nav_msgs/Odometry |
6DoF absolute pose |
| OUT | /exwayz/relocalization/odometry_local | nav_msgs/Odometry |
6DoF relative pose to map |
| OUT | /exwayz/relocalization/navsatfix | sensor_msgs/NavSatFix |
Geodetic coords (lat, lon, alt) if map CRS is set |
| OUT | /exwayz/relocalization/pointcloud2 | sensor_msgs/PointCloud2 |
Motion-compensated point cloud |
| OUT | /exwayz/relocalization/status | exwayz_msgs/ExwayzStatus |
Algorithm status |
| SVC | /exwayz/relocalization/reinit | std_srvs/Trigger |
Trigger reinitialization |
| SVC | /exwayz/relocalization/enable_local_mapping | std_srvs/Trigger |
Start local mapping |
| SVC | /exwayz/relocalization/disable_local_mapping | std_srvs/Trigger |
Stop local mapping and clear map |
RTMaps
Exwayz is available as an RTMaps package, enabling seamless integration into Intempora-based ADAS and robotics data pipelines. The package exposes Mapping and Navigation as RTMaps components: drag, connect, run.
Available on the Intempora platform. Visit the AI Store of Intempora →
Supported LiDARs
Exwayz is sensor-agnostic. Any 3D LiDAR producing a standard point cloud is supported. Below are validated manufacturers. Additional models available on request.
Using a different sensor?
Robot platforms
Exwayz runs on any platform that carries a 3D LiDAR. No form factor constraint, no proprietary middleware dependency.
OS & hardware
Examples of OS & hardware supported.