How to run mcl_3dl with multiple lidars (pointcloud2) ?
HappySamuel opened this issue · comments
Hi @at-wat
I just noticed the description of the mcl_3dl is performing a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s).
How shall i enable it to run with multiple 3D lidars?
Best,
Samuel
mcl_3dl subscribes multiple 3D pointclouds (can have multiple frame_id) from /cloud
.
Transform of multiple frame_ids are handled inside mcl_3dl, so you can just supply all pointclouds into one topic.
hey @at-wat, running into the same question over here. how can we put multiple lidars into the same topic as you suggest? is it only a launch file change?
@flynneva For example in the launch file
<node name="lidar_3d_driver1" ...>
<remap from="original_topic" to="cloud" />
</node>
<node name="lidar_3d_driver2" ...>
<remap from="original_topic" to="cloud" />
</node>
or
<node name="lidar_3d_driver1" ... /><!-- publishing to cloud1 -->
<node name="lidar_3d_driver2" ... /><!-- publishing to cloud2 -->
<node pkg="topic_tools" type="relay" name="relay1" args="cloud1 cloud" />
<node pkg="topic_tools" type="relay" name="relay1" args="cloud2 cloud" />
@HappySamuel mcl_3dl accumulates multiple scans from multiple lidars and process them taking their poses at the timestamp of each message into account.
Can it take in the pointcloud data from 3D pointcloud camera as well?
I have never tried.