{"id":28247177,"url":"https://github.com/amock/rmcl_examples","last_synced_at":"2025-06-15T04:31:33.175Z","repository":{"id":165948215,"uuid":"564225311","full_name":"amock/rmcl_examples","owner":"amock","description":"RMCL Examples","archived":false,"fork":false,"pushed_at":"2025-06-03T00:04:57.000Z","size":11746,"stargazers_count":4,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-06-03T12:22:43.070Z","etag":null,"topics":["rmagine","rmcl"],"latest_commit_sha":null,"homepage":"https://github.com/uos/rmcl","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/amock.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2022-11-10T09:08:50.000Z","updated_at":"2025-06-03T00:05:00.000Z","dependencies_parsed_at":"2025-01-10T15:43:44.076Z","dependency_job_id":"0c2e538b-d748-45bc-95d1-12688ebfd315","html_url":"https://github.com/amock/rmcl_examples","commit_stats":null,"previous_names":["amock/rmcl_examples"],"tags_count":2,"template":false,"template_full_name":null,"purl":"pkg:github/amock/rmcl_examples","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/amock%2Frmcl_examples","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/amock%2Frmcl_examples/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/amock%2Frmcl_examples/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/amock%2Frmcl_examples/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/amock","download_url":"https://codeload.github.com/amock/rmcl_examples/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/amock%2Frmcl_examples/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":259922328,"owners_count":22932489,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["rmagine","rmcl"],"created_at":"2025-05-19T10:08:48.067Z","updated_at":"2025-06-15T04:31:33.167Z","avatar_url":"https://github.com/amock.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# rmcl_examples\n\nExamples to test and demonstrate the functionalities of the [rmcl](https://github.com/uos/rmcl) ROS package.\n\n## Simulation\n\nIn the [`rmcl_examples_sim`](/rmcl_examples_sim/) packages are placed several simulation environments to spawn a mobile robot in.\n\n\n\nThe robot can be loaded into one simulation by calling\n\n```console\nros2 launch rmcl_examples_sim start_robot_launch.py map:=tray\n```\n\nThe environment can be changed by either changing the launch file's default arguments or via command line. For further details and what maps are available, see [`rmcl_examples_sim`](/rmcl_examples_sim/).\n\n## Maps\n\nThe [`rmcl_examples_maps`](/rmcl_examples_maps/) contains mesh maps each of which corresponds to one (same named) simulation environment.\n\n- [mesh_tools](https://github.com/naturerobots/mesh_tools)\n\n```console\nros2 launch rmcl_examples_maps show_map.launch map:=tray\n```\n\nThose maps can are used throughout the examples as reference map for [RMCL](https://github.com/uos/rmcl) to localize a robot. See [`rmcl_examples_maps`](/rmcl_examples_maps/) for further details.\n\n## MICP-L - Quickstart\n\nTo start MICP-L (Mesh ICP Localization), run\n\n```console\nros2 launch rmcl_examples rmcl_micp.launch map:=tray gui:=True\n```\n\n**Note**: the map has to match the environment that have been used with the simulation!\n\nThe argument `gui:=True` courses a preconfigured RViz windows to open.\nAfter that you can set a pose in RViz via `2D Pose Estimate` and see the robot localizing itself given the range measurements of the Velodyne LiDAR. Alternatively, you can use the `Mesh Pose Guess` tool of [`mesh_tools`](https://github.com/naturerobots/mesh_tools) to provide a pose guess on the mesh.\n\n![MICP](.media/rmcl_micp_1280.gif)\n\n\n### MICP-L - Examples\n\n#### 1. [Overview](/rmcl_examples_micpl/)\n\nThree sensors, four wheels, and many worlds.\n\n#### 2. [Conversions](/rmcl_examples_conversions/)\n\nUse you own data for MICP-L. Message conversions explained.\n\n#### 3. [Segmentation](/rmcl_examples_micpl_segmentation/)\n\nFilter expected parts of you sensor data and mark the unexpected parts of the data and the map.\n\n#### 4. [Node Composition](/rmcl_examples_micpl_composition/)\n\nLet the sensor data flow more efficiently to MICP-L.\n\n#### 5. [Sensor Combinations](/rmcl_examples_micpl_combinations/)\n\nCombine several sensors and use all at once.\n\n#### 6. [GPU Acceleration](/rmcl_examples_micpl_gpu/)\n\nAccelerate the registration process using hardware-accelerated ray tracing.\n\n#### 7. [Parameters](/rmcl_examples_micpl_parameters)\n\nTune the parameters of MICP-L for your needs.\n\n\n\n## Branch Compatibility\n\n|  RMCL Branch    |  Supported ROS 2 versions    |\n|:----|:----|\n|  main   |  humble, jazzy |\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Famock%2Frmcl_examples","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Famock%2Frmcl_examples","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Famock%2Frmcl_examples/lists"}