global-LeGO-LOAM
It contains LeGO-LOAM mapping algorithm and Particle filter localization algorithm. To find robot pose, map should be built first by LeGO-LOAM. For computation efficiency, all nodes are implemented as nodelet.
Preparation
cd src && git clone https://github.com/haeyeoni/global-LeGO-LOAM
cd .. && catkin_make
Build map (Using KITTI dataset)
(0) Download KITTI dataset and make as bag file format (Reference lik)
(1) Mapping
roslaunch lego_loam kitti_mapping.launch
(new terminal) rosbag play kitti.bag --clock
In the launch file, you can set map and key pose path. Model is for generating descriptors and is used for finding initial pose of Monte Carlo Localization.
- Result map
(2) Localization
roslaunch lego_loam kitti_localization.launch
(new terminal) rosbag play kitti.bag --clock
The argument paths (model_path, feature_cloud_path, key_pose_path, map_save_path) should be set same as the mapping.
- Result
