How to use Landmark with mcl_3dl???

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 Landmark with mcl_3dl??? #255

Closed HappySamuel closed 4 years ago

HappySamuel commented 4 years ago

I read and find that there's a cbLandmark loop inside the mcl_3dl.cpp. Please share with us on how to use it, and how to make the landmark.

Best, Samuel

at-wat commented 4 years ago

mcl_3dl receives geometry_msgs/PoseWithCovarianceStamped messages from /mcl_measurement topic. By using this topic, you can directly provide likelihood distribution of the robot pose to the particle filter.

at-wat commented 4 years ago

Closing as the question looks resolved. Feel free to reopen, or open a new issue, if you have any another question on this topic.