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at-wat / mcl_3dl

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.

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Add a parameter to limit maximum total pointcloud accumuration

at-wat opened this issue · comments

commented

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.