local_tutorials

Requirement

• ros (kinetic)
• PCL 1.8

Install local_tutorials ros-pkg in your src folder of your Catkin workspace.

cd ~/catkin_ws/src/
git clone https://github.com/karrykarry/local_tutorials
cd ~/catkin_ws
catkin_make

How to use

1. Run odometer.The requested topics are /odom(wheel encoder) /imu/data(gyro sensor)

   ~$ roslaunch local_tutorials odometer.launch
   

2. Run mcl.The requested topics are /odom(wheel encoder) /imu/data(gyro sensor) /velodyne_points(LiDAR).The pcd map is required.

   ~$ roslaunch local_tutorials mcl.launch