2 ubuntu18.04安装mcl_3dl

chencaw

于 2019-12-10 10:15:23 发布

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分类专栏： NANO和ROS

本文链接：https://blog.youkuaiyun.com/chencaw/article/details/103469762

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本文详细介绍了如何在ROS Melodic环境中安装MCL-3DL，并提供了下载及测试示例数据包的方法。此外，还展示了如何通过运行demo进行全局定位，包括预处理点云、IMU姿态、里程计和地图数据的使用。

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参考了

https://github.com/at-wat/mcl_3dl

https://blog.youkuaiyun.com/jc15988821760/article/details/100263564

1、直接安装二进制包

sudo apt-get install ros-melodic-mcl-3dl

2、下载测试包测试

# Download the example bag (230M)
wget -P ~/Downloads https://openspur.org/~atsushi.w/dataset/mcl_3dl/short_test.bag

# Running the demo
roslaunch mcl_3dl test.launch use_pointcloud_map:=false use_cad_map:=false   use_bag_file:=true bag_file:=${HOME}/Downloads/short_test.bag

The example bag file of 2+4-DOF tracked vehicle with two Hokuyo YVT-X002 3-D LIDAR is available online. Pre-processed (filtered) 3-D pointcloud, IMU pose, odometry, and map data are packed in the bag.

The map data in the bag was generated by using the cartographer_ros and filtered by using pcl_outlier_removal and pcl_voxel_grid utilities.

3、全局定位