{"id":13722780,"url":"https://github.com/at-wat/mcl_3dl","last_synced_at":"2025-04-14T20:54:41.176Z","repository":{"id":12961984,"uuid":"73250362","full_name":"at-wat/mcl_3dl","owner":"at-wat","description":"A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). 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currently, it doesn't implement adaptive feature like KDL-sampling and etc.\n\n## Algorithms\n\nA fundamental algorithm of *mcl_3dl* node is Monte Carlo localization (MCL), aka particle filter localization.\nMCL represents a probabilistic distribution of estimated pose as density and weight of particles and estimates the pose from the distribution.\n\n- [Algorithm details](doc/Algorithms.md)\n- [Parameters](doc/Parameters.md)\n\n## Node I/O\n\n![mcl_3dl I/O diagram](doc/images/mcl_3dl_io.png)\n\n## Install\n\n### from source\n\n**Note: mcl_3dl_msgs package is required to build mcl_3dl package.**\n\n```shell\n# clone\ncd /path/to/your/catkin_ws/src\ngit clone https://github.com/at-wat/mcl_3dl.git\ngit clone https://github.com/at-wat/mcl_3dl_msgs.git\n\n# build\ncd /path/to/your/catkin_ws\nrosdep install --from-paths src --ignore-src -y  # Install dependencies\ncatkin_make -DCMAKE_BUILD_TYPE=Release  # Release build is recommended\n```\n\n### from apt repository (for ROS Indigo/Kinetic/Lunar on Ubuntu)\n\n```\nsudo apt-get install ros-${ROS_DISTRO}-mcl-3dl\n```\n\n## Running the demo\n\nThe example bag file of 2+4-DOF tracked vehicle with two Hokuyo YVT-X002 3-D LIDAR is available online.\nPre-processed (filtered) 3-D pointcloud, IMU pose, odometry, and map data are packed in the bag.\n\n```shell\n# Download the example bag (230M)\nwget -P ~/Downloads https://openspur.org/~atsushi.w/dataset/mcl_3dl/short_test3.bag\n\n# Running the demo\nroslaunch mcl_3dl test.launch use_pointcloud_map:=false use_cad_map:=false \\\n  use_bag_file:=true bag_file:=${HOME}/Downloads/short_test3.bag\n```\n\nThe map data in the bag was generated by using the [cartographer_ros](https://github.com/googlecartographer/cartographer_ros) and filtered by using pcl_outlier_removal and pcl_voxel_grid utilities.\n\n\n![Rviz image of the demo](https://github.com/at-wat/mcl_3dl/blob/master/doc/images/demo_rviz.jpg?raw=true)\n\nMarkerArray shows several *mcl_3dl* internal information.\n- Purple spheres: sampled points used in the likelihood-model calculation\n- Red lines: casted rays in the beam-model calculation\n- Red boxes: detected collisions in raycasting\n\nTo try global localization, call `/global_localization` by the following command.\n\n```shell\nrosservice call /global_localization\n```\n\n[Demos without odometry and without IMU](doc/ExperimentalDemos.md) are also available.\n\n## Contributing\n\n*mcl_3dl package* is developed under [GitHub flow](https://guides.github.com/introduction/flow/).\nFeel free to open new Issue and/or Pull Request.\n\nThe code in this repository is following [ROS C++ Style Guide](https://wiki.ros.org/CppStyleGuide).\nA configuration file for clang-format is available at https://github.com/seqsense/ros_style/.\n\n## License\n\n- *mcl_3dl* is [provided under the BSD license](LICENSE).\n- [Backport codes](include/pcl18_backports) of Point Cloud Library (PCL) is [provided under the BSD license](LICENSE.pcl-backports).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fat-wat%2Fmcl_3dl","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fat-wat%2Fmcl_3dl","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fat-wat%2Fmcl_3dl/lists"}