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LIME : Localisation in Mapped Environment

LIME is an open source 3D LiDAR-based localisation framework. This framework enables localisation in a premapped environment. Prior mapping can be achieved by using packages like loam_velodyne and LeGO_LOAM. Wheel odometry is used to provide high frequency, low accuracy updates which are corrected by low frequency, high accuracy ICP corrections.

example_image

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This package is built on top of the ROS ecosystem.

This package has been tested on Ubuntu 16.04 & ROS kinetic.

Installation

premapped_localization depends on the following libraries:

Installing this package this package:

cd ~/catkin_ws/src
git clone https://github.com/ShreyanshDarshan/premapped_localization.git

cd ~/catkin_ws/
catkin_make

Examples

1. Using robot_localisation from this package with encoder data.

In a terminal execute:

cd ~/catkin_ws/
source devel/setup.bash
roslaunch icp setup.launch

If using a bagfile, in a different terminal, run:

rosbag play <path to bagfile>/<bagfile_name>.bag

Make sure that the encoder data is being published at the topic /encoders of message type geometry_msgs/Twist and is of the following format:

  • twist.linear.x -> left wheel encoder data
  • twist.linear.y -> right wheel encoder data

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Point Cloud Localisation SLAM package for Autonomous Ground Vehicle

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