localization

README | 中文文档

1. Introduction

localization is used to provide real-time relative or global positioning information. This project includes the following two modules:

msf_localization is a fusion localization module based on the ESKF framework, which can provide relative positioning information based only on IMU + wheel speed and global positioning information by fusing point cloud localization results. This module can also be extended with other sensor observations.

lidar_localization is a point cloud localization module based on point cloud maps, using ceres for optimization and pcl for point cloud processing.

2. Prerequisites

This project is developed and tested based on ros2 humble/ros1 noetic+ python 3.8.10 .

The msf_localization and lidar_localization modules depend on ros2/ros1 and the dependencies defined in package.xml.

msf_localization depend on glog to log information

Ubuntu:

sudo apt install libgoogle-glog-dev

2.1 Install ros

Follow the specified content in the official tutorial for your operating system.

2.2 Install python3 [Optional]

You can install Python3 by following the Python installation guide for your platform. It is recommended to use version 3.8.10 or above.

• Windows: Download and run https://www.python.org/ftp/python/3.8.10/python-3.8.10-amd64.exe to complete the installation.

• Ubuntu:

sudo apt-get install -y python3 python3-pip

3. Installation

3.1 Pulling Source Code

You can create a new folder or go into your existing ros workspace and execute the following command to clone the code into the workspace.

git clone git@gitlab.robosense.cn:super_sensor_sdk/ros2_sdk/localization.git -b main

3.3 Compile localization

This project supports both ros1 and ros2

ros1:

Execute the following commands in your workspace to compile and install localization.

catkin_make

After compilation and installation, it is recommended to refresh the workspace's bash profile to ensure everything functions properly.

source devel/setup.bash

ros2:

Execute the following commands in your workspace to compile and install localization.

colcon build --symlink-install 

After compilation and installation, it is recommended to refresh the workspace's bash profile to ensure everything functions properly.

source install/setup.bash

4. Usage

4.1 Run Localization Nodes

ros1:

Run the fusion localization node

rosrun msf_localization msf_localization_node 

Run the point cloud localization node

rosrun lidar_localization lidar_localization_node

ros2:

Run the fusion localization node

ros2 run msf_localization msf_localization_node 

Run the point cloud localization node

ros2 run lidar_localization lidar_localization_node

4.2 Rviz Visualize

ros2:

rviz -d msf_localization/rviz/rviz2_config.rviz

ros2:

rviz2 -d msf_localization/rviz/rviz2_config.rviz

4.3 Required Sensor Messages

• msf_localization : IMU messages, wheel speed messages, lidar localization result (optional), user-extended other sensor messages (optional)

• lidar_localization : LiDAR point cloud messages, msf localization result

4.4 localization initialization

fusion localization and lidar localization default initial position is' [0,0,0] ', and the default initial pose is the identity matrix. If the user

knows the initial pose in the pointcloud map or can obtain the initial pose through external devices such as RTK, they can modify the configuration file

• fusion localization: msf_localization/config/loc_param.yaml:

#init pose
x_init: 2.0
y_init: 4.0
z_init: 0.0
roll_init: 0.0
pitch_init: 0.0
yaw_init: 0.0

• lidar localization: lidar_localization/config/config.yaml:

#init position
init_position: [2.0, 4.0, 0.0]  # x, y, z
#init euler
init_euler: [0.0, 0.0, 0.0] # roll, pitch, yaw

4.5 Prepare the dataset

• Point Cloud Map: Point cloud map PCD files generated by rs_slam mapping software or other mapping software, placed in

  lidar_localization/map directory, user need to set map_path parameter in configuration file of lidar localization

• Example Data Path : https://cdn.robosense.cn/AC_wiki/localization_demo.zip

5. Function Description

5.1 Configuration Files

Fusion localization related configuration file: msf_localization/config/loc_param.yaml

Point cloud localization related configuration file: lidar_localization/config/config.yaml

6. FAQ

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