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devel_local's Introduction

Latest version:

final.cpp - Object oriented method of Version 1 with following improvements :

  • Updated scan matching algorithm
  • Low latency
  • Included IMU correction

Requirements :

  • ROS cpp
  • pcl
  • libpointmatcher

How to use

  1. Clone the repo
git clone https://github.com/pranavkdas/devel_local.git
  1. Go to src/pcl_publish.cpp and change the directory of map and scan cloud.
pcl::io::loadPCDFile ("/home/<your_pc_name>/<your_workspace>/src/relocalisation/data/kitti2.pcd", MapCloud);
pcl::io::loadPCDFile ("/home/<your_pc_name>/<your_workspace>/src/relocalisation/data/area.pcd", ScanCloud);
  1. Build the package
catkin_make -j1
  1. Launch the package using the following command
roslaunch relocalisation run.launch

The main file to edit for modifications is :

final.cpp

Appendix: Version 1:

How it works :

idea

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Contributors

pranavkdas avatar janak-ruia avatar

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