Particles always converge to the same position

[txshang]

When I run the code, the particles will always converge to a same position,the map is a pointcloud map with height, so i want to know if some parameters should be set.

[at-wat]

Information to reproduce and/or describe your problem should be provided. No one can help you without information.

• OS and ROS distribution version
• mcl_3dl version (from source or apt-get)
  • if from source, how did you build (catkin_make/catkin/catkin_make_isolated and optional arguments if specified)
  • if from source, dependent library versions (PCL, Eigen) if changed from rosdep or apt-get provided version
• Information to reproduce your problem, for example:
  • configurations, if it differs from default or demonstration
  • launch files, if it differs from default or demonstration
  • data
• Information to show what exactly happens, for example:
  • screenshots
  • console log/error messages
  • data

[txshang]

I use ros kinetic on ubuntu16.04 I use catkin_make to build mcl_3dl from source,I use pcl 1.8.1 I don't change default configurations,i changed the launch like this I use rslidar points odom and a imu When I call /global_localization,the position of particles always converge to the same place like this Can I give my bag and pcd map to you,so you can give me some help

[at-wat]

Did you confirmed that the pointcloud, odometry, IMU data are correctly fed to mcl_3dl node?

  <remap from="rslidar_points" to="rslidar_points" />

This has no effect. If the pointcloud is published to /rslidar_points, it is not fed to mcl_3dl.

Please check that the topics of pointcloud, odometry, IMU are connected to mcl_3dl node. (for example by using rqt_graph)

[txshang]

I have changed some topics name，so the /rslidar_points is no problem，imu and odom are all correct，the problem is just happened on this map and bag，if a map with height is not support

[at-wat]

https://github.com/at-wat/mcl_3dl/issues/280#issue-551384923

the map is a pointcloud map with height

https://github.com/at-wat/mcl_3dl/issues/280#issuecomment-575893026

if a map with height is not support

I couldn't understand what do you mean these part. As this package is 3-D/6-DOF, the map pointcloud always must have height (z position) information. Could you explain bit more detail?

[txshang]

I mean if some configurations should be set，so to achieve a 6DOF localization.Because when I run localization on a robot which always move on a fixed height，it works.but if robot move on terrain , it not works.

[txshang]

Can I send the bag and map to you, could you do me a favor to test it when you are free

[at-wat]

Sure, seeing the actual data would be easier. Could you upload the bag and map to somewhere? or, do you want not to make them public?

[txshang]

I can upload the data to GitHub and give you a link