aeng_563_localization_mapping

This the example code for project 1: mapping and localization.

How to use

Step 1

Pre-requisite

sudo apt install ros-noetic-jsk-rviz-plugins
sudo apt install -y libpcap-dev 
sudo apt-get install pcl-tools

Step 2

Download the code. Open a terminal and use the command below:

cd ~
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/ros-drivers/velodyne.git
git clone https://github.com/xiaxin2000/aeng_563_localization.git
cd ~/catkin_ws
catkin_make

Step 3

Download the data from Google Drive:

• ROSBag sample: rosbag link

• Point cloud map sample: map.pcd

Then, save the ROSBag and point cloud map into ~/catkin_ws

Demo 1: Mapping

Mapping based on LIDAR using Normal Distribution Transformation algorithm

Step 1

Change the line 3 of the file in ~/catkin_ws/src/aeng_563/lidar_localizer/launch/ndt_mapping.launch to your own workspace.

Step 2

Open a terminal and use the command below:

cd ~/catkin_ws
source devel/setup.bash
roslaunch lidar_localizer ndt_mapping.launch

You will see:

Step 3

Open another terminal:

cd ~/catkin_ws
rosbag play -r 0.2 2023-03-08-18-32-45.bag

Step 4

Open a third terminal after a few seconds:

rostopic pub -r 1 /savemap std_msgs/Bool "data: true"

The map will be save in your specified path.

Try to tune other parameters in the launch file and see what will happen.

Step 5

After you see the map in the corresponding folder, you can check the map in a terminal using the command below:

pcl_viewer map.pcd

You will see:

Demo 2: Localization

Localization based on LIDAR using Normal Distribution Transformation algorithm and existing generated map

Step 1

Change the line 10 of the file in ~/catkin_ws/src/aeng_563/lidar_localizer/launch/ndt_matching.launch to your own workspace.

Step 2

Open a terminal and use the command below:

cd ~/ catkin_ws
source devel/setup.bash
roslaunch lidar_localizer ndt_matching.launch

Step 3

Open another terminal:

cd ~/catkin_ws
rosbag play -r 0.2 2023-03-08-18-32-45.bag

You will see the following results: