Global localization service should be more configurable

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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Global localization service should be more configurable #243

Open DaikiMaekawa opened 5 years ago

DaikiMaekawa commented 5 years ago

There is some use case that the user wants to control how to spread particles to execute the global localization.

at-wat commented 5 years ago

Existing global_localization service should be kept for amcl compatibility. New service should be defined to implement this.