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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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How to use global localization service #231

Closed ArthurYu96 closed 4 years ago

ArthurYu96 commented 5 years ago

Thank you for your great works. I run the demo and it works well, but I don't know how can I use the global localization service, should I write a client for the service? Btw, if I want to use a real robot without IMU, what should I change? Hope for your help, thanks

at-wat commented 5 years ago

Global localization can be triggered by a ROS service. You can use command line tools rosservice call /global_localization.

Btw, if I want to use a real robot without IMU, what should I change?

This topic is duplicate of #223. I have not yet decided how to support no-IMU system.

at-wat commented 4 years ago

An example command to run global localization in the demonstration has been added to README. (https://github.com/at-wat/mcl_3dl/pull/238)

Feel free to reopen if you have question on this topic.