can not use hdl_global_localization to init hdl

[narutojxl]

Hi @koide3, Thanks for your hard wok. I run hdl with use_global_localization = true, specify_init_pose = false, then in the terminal rosservice call /relocalize, hdl can not be initialized with hdl_global_localization. I modifed hdl_localization_nodelet.cpp 3 places in code to let hdl init successfuly and test OK. Because i comment the raw code with chinese, when trying to give a PR, it will include some trival differences, so i point out 3 places in here. Hope to be useful :).

• init stage call "/relocalize"
• set first laser in laser callback
• capture mutex when we enter "relocalize" callback

[koide3]

Thanks! I'll update the code soon according to your suggestion 👍

[narutojxl]

You are welcome :)

[TCoder24]

hello，when i compile this project on ubuntu16.04&kinetic，met some errors https://github.com/koide3/hdl_localization/issues/71 can you help me, does it need to be compiled on 20.04?