2 ubuntu18.04安装mcl_3dl

参考了

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

https://blog.csdn.net/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

rosservice call /global_localization