mcl_3dl is 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.
The node receives the reference pointcloud as an environment map and localizes 6-DOF (x, y, z, yaw, pitch, roll) pose of measured pointclouds assisted by a motion prediction using odometry.
Currently, the supported motion model is differential-wheeled-robot. The node provides classic MCL; currently, it doesn't implement adaptive feature like KDL-sampling and etc.
A fundamental algorithm of mcl_3dl node is Monte Carlo localization (MCL), aka particle filter localization. MCL represents a probabilistic distribution of estimated pose as density and weight of particles and estimates the pose from the distribution.
Note: mcl_3dl_msgs package is required to build mcl_3dl package.
# clone
cd /path/to/your/catkin_ws/src
git clone https://github.com/at-wat/mcl_3dl.git
git clone https://github.com/at-wat/mcl_3dl_msgs.git
# build
cd /path/to/your/catkin_ws
rosdep install --from-paths src --ignore-src -y # Install dependencies
catkin_make -DCMAKE_BUILD_TYPE=Release # Release build is recommendedsudo apt-get install ros-${ROS_DISTRO}-mcl-3dl
The example bag file of 2+4-DOF tracked vehicle with two Hokuyo YVT-X002 3-D LIDAR is available online. Pre-processed (filtered) 3-D pointcloud, IMU pose, odometry, and map data are packed in the bag.
# Download the example bag (230M)
wget -P ~/Downloads https://openspur.org/~atsushi.w/dataset/mcl_3dl/short_test3.bag
# Running the demo
roslaunch mcl_3dl test.launch use_pointcloud_map:=false use_cad_map:=false \
use_bag_file:=true bag_file:=${HOME}/Downloads/short_test3.bagThe map data in the bag was generated by using the cartographer_ros and filtered by using pcl_outlier_removal and pcl_voxel_grid utilities.
MarkerArray shows several mcl_3dl internal information.
- Purple spheres: sampled points used in the likelihood-model calculation
- Red lines: casted rays in the beam-model calculation
- Red boxes: detected collisions in raycasting
To try global localization, call /global_localization by the following command.
rosservice call /global_localizationDemos without odometry and without IMU are also available.
mcl_3dl package is developed under GitHub flow. Feel free to open new Issue and/or Pull Request.
The code in this repository is following ROS C++ Style Guide. A configuration file for clang-format is available at https://github.com/seqsense/ros_style/.
- mcl_3dl is provided under the BSD license.
- Backport codes of Point Cloud Library (PCL) is provided under the BSD license.
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