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at-wat / mcl_3dl

A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
BSD 3-Clause "New" or "Revised" License
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without IMU #223

Closed weisongwen closed 4 years ago

at-wat commented 5 years ago

I added ~fake_imu parameter which disable subscribing /imu/data and use odometry pose as a pose measurement source. Please try a new demo: https://github.com/at-wat/mcl_3dl/blob/master/doc/ExperimentalDemos.md#demo-without-imu-very-experimental

at-wat commented 4 years ago

Fake IMU mode, that uses odometry poses as IMU data, is added by #234. Set fake_imu true to enable this.