- geometry_msgs
- pcl_ros
- sensor_msgs
- tf2
- tf2_ros
- tf_conversions
-
pub_map
- parameters: map_path
- subscribe: N/A
- publish: /map (sensor_msgs::PointCloud2)
-
localizer
- parameters: baselink2lidar_trans (float array), baselink2lidar_rot (float array), result_save_path (string)
- subscribe: /map (sensor_msgs::PointCloud2), /lidar_points (sensor_msgs::PointCloud2), /gps (geometry_msgs::PointStamped)
- publish: /lidar_pose (geometry_msgs::PoseStamped), /transformed_points (sensor_msgs::PointCloud2)
- output: result poses as csv file saved in
result_save_path
First, you should download your pcd map to your computer and modify map_path in pub_map_node.cpp
for bag from ITRI.
For nuscenes datasets, you should utilize map_tile_loader package and setup your nuscenes map files.
Start launch file by,
roslaunch baseline_localizer itri.launch
# or
roslaunch baseline_localizer nuscenes.launch
Play rosbag with the following command.
rosbag play --pause -r 0.1 <your_bag_file>
You can pause/resume the playing process by pressing white space on the rosbag play terminal.
It is recommanded to pause a while when the localizer node is initializing.
The results will be saved in results/
folder by default. Check if there are correct number of lines and upload your result to our competition servers.