3D定位-使用三维LIDAR实现的实时3D定位-附项目源码-优质项目实战.zip

# hdl_localization ***hdl_localization*** is a ROS package for real-time 3D localization using a 3D LIDAR, such as velodyne HDL32e and VLP16. This package performs Unscented Kalman Filter-based pose estimation. It first estimates the sensor pose from IMU data implemented on the LIDAR, and then performs multi-threaded NDT scan matching between a globalmap point cloud and input point clouds to correct the estimated pose. IMU-based pose prediction is optional. If you disable it, the system uses the constant velocity model without IMU information.  ## Requirements ***hdl_localization*** requires the following libraries: - PCL - OpenMP The following ros packages are required: - pcl_ros - [ndt_omp](https://github.com/koide3/ndt_omp) - [fast_gicp](https://github.com/SMRT-AIST/fast_gicp) - [hdl_global_localization](https://github.com/koide3/hdl_global_localization) ## Installation ```bash cd /your/catkin_ws/src git clone https://github.com/koide3/ndt_omp git clone https://github.com/SMRT-AIST/fast_gicp --recursive git clone https://github.com/koide3/hdl_localization git clone https://github.com/koide3/hdl_global_localization cd /your/catkin_ws catkin_make -DCMAKE_BUILD_TYPE=Release # if you want to enable CUDA-accelerated NDT # catkin_make -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON ``` ### Support docker :whale: Using docker, you can conveniently satisfy the requirement environment. Please refer to the repository below and use the docker easily. - [Taeyoung96/hdl_localization_tutorial](https://github.com/Taeyoung96/hdl_localization_tutorial) ## Parameters All configurable parameters are listed in *launch/hdl_localization.launch* as ros params. The estimated pose can be reset using using "2D Pose Estimate" on rviz ## Topics - ***/odom*** (nav_msgs/Odometry) - Estimated sensor pose in the map frame - ***/aligned_points*** - Input point cloud aligned with the map - ***/status*** (hdl_localization/ScanMatchingStatus) - Scan matching result information (e.g., convergence, matching error, and inlier fraction) ## Services - ***/relocalize*** (std_srvs/Empty) - Reset the sensor pose with the global localization result - For details of the global localization method, see [hdl_global_localization](https://github.com/koide3/hdl_global_localization) ## Example Example bag file (recorded in an outdoor environment): [hdl_400.bag.tar.gz](http://www.aisl.cs.tut.ac.jp/databases/hdl_graph_slam/hdl_400.bag.tar.gz) (933MB) ```bash rosparam set use_sim_time true roslaunch hdl_localization hdl_localization.launch ``` ```bash roscd hdl_localization/rviz rviz -d hdl_localization.rviz ``` ```bash rosbag play --clock hdl_400.bag ``` ```bash # perform global localization rosservice call /relocalize ``` <img src="data/figs/localization1.png" height="256pix" /> <img src="data/figs/localization2.png" height="256pix" /> If it doesn't work well or the CPU usage is too high, change *ndt_neighbor_search_method* in *hdl_localization.launch* to "DIRECT1". It makes the scan matching significantly fast, but a bit unstable. ## Related packages - [interactive_slam](https://github.com/koide3/interactive_slam) - <a href="https://github.com/koide3/hdl_graph_slam">hdl_graph_slam</a> - <a href="https://github.com/koide3/hdl_localization">hdl_localization</a> - <a href="https://github.com/koide3/hdl_global_localization">hdl_global_localization</a> - <a href="https://github.com/koide3/hdl_people_tracking">hdl_people_tracking</a> <img src="data/figs/packages.png"/> Kenji Koide, Jun Miura, and Emanuele Menegatti, A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement, Advanced Robotic Systems, 2019 [[link]](https://www.researchgate.net/publication/331283709_A_Portable_3D_LIDAR-based_System_for_Long-term_and_Wide-area_People_Behavior_Measurement).