https://github.com/amock/rmcl_examples
RMCL Examples
https://github.com/amock/rmcl_examples
rmagine rmcl
Last synced: about 1 year ago
JSON representation
RMCL Examples
- Host: GitHub
- URL: https://github.com/amock/rmcl_examples
- Owner: amock
- License: bsd-3-clause
- Created: 2022-11-10T09:08:50.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2025-06-03T00:04:57.000Z (about 1 year ago)
- Last Synced: 2025-06-03T12:22:43.070Z (about 1 year ago)
- Topics: rmagine, rmcl
- Language: Python
- Homepage: https://github.com/uos/rmcl
- Size: 11.2 MB
- Stars: 4
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# rmcl_examples
Examples to test and demonstrate the functionalities of the [rmcl](https://github.com/uos/rmcl) ROS package.
## Simulation
In the [`rmcl_examples_sim`](/rmcl_examples_sim/) packages are placed several simulation environments to spawn a mobile robot in.
The robot can be loaded into one simulation by calling
```console
ros2 launch rmcl_examples_sim start_robot_launch.py map:=tray
```
The 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/).
## Maps
The [`rmcl_examples_maps`](/rmcl_examples_maps/) contains mesh maps each of which corresponds to one (same named) simulation environment.
- [mesh_tools](https://github.com/naturerobots/mesh_tools)
```console
ros2 launch rmcl_examples_maps show_map.launch map:=tray
```
Those 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.
## MICP-L - Quickstart
To start MICP-L (Mesh ICP Localization), run
```console
ros2 launch rmcl_examples rmcl_micp.launch map:=tray gui:=True
```
**Note**: the map has to match the environment that have been used with the simulation!
The argument `gui:=True` courses a preconfigured RViz windows to open.
After 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.
### MICP-L - Examples
#### 1. [Overview](/rmcl_examples_micpl/)
Three sensors, four wheels, and many worlds.
#### 2. [Conversions](/rmcl_examples_conversions/)
Use you own data for MICP-L. Message conversions explained.
#### 3. [Segmentation](/rmcl_examples_micpl_segmentation/)
Filter expected parts of you sensor data and mark the unexpected parts of the data and the map.
#### 4. [Node Composition](/rmcl_examples_micpl_composition/)
Let the sensor data flow more efficiently to MICP-L.
#### 5. [Sensor Combinations](/rmcl_examples_micpl_combinations/)
Combine several sensors and use all at once.
#### 6. [GPU Acceleration](/rmcl_examples_micpl_gpu/)
Accelerate the registration process using hardware-accelerated ray tracing.
#### 7. [Parameters](/rmcl_examples_micpl_parameters)
Tune the parameters of MICP-L for your needs.
## Branch Compatibility
| RMCL Branch | Supported ROS 2 versions |
|:----|:----|
| main | humble, jazzy |