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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 can not successly run mcl_3dl #266

Closed txshang closed 4 years ago

txshang commented 4 years ago

Hello,when I launch the mcl_3dl without imu.It pose will never change, it just stop on a position. I use test_localization_noodom.yaml and I publish a static tf from basefootprint to velodyne I can use the without_imu version. Do I do something wrong so that cause this mistake.

at-wat commented 4 years ago

For systems without IMU nor odometry, using this node is not resonable as it is designed to be lightweight especially on mobile robot system. (6-DoF localization only by using LIDAR requires much amount of computation power.)

At least one of odometry and IMU is mandatory. https://github.com/at-wat/mcl_3dl/blob/3b6d40c85d1bb5faacd3ef4588caa754b75caec5/src/mcl_3dl.cpp#L1090-L1096

at-wat commented 4 years ago

Closing as the issue looks a duplicate of #144. Feel free to reopen if it is not duplicate.