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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Add a parameter to limit maximum total pointcloud accumuration #289
mcl_3dl stores accum pieces of point clouds with frame_id arrived at the beginning.
If multiple LIDARs are connected and the first LIDAR dead, mcl_3dl accumulates point clouds infinitely.
mcl_3dl stores
accumpieces of point clouds withframe_idarrived at the beginning. If multiple LIDARs are connected and the first LIDAR dead,mcl_3dlaccumulates point clouds infinitely.