RMCL MICP-L for map-based localization #12
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Cakem1x
approved these changes
Jul 3, 2025
mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py
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Co-authored-by: Matthias Holoch <mholoch@gmail.com>
…ch.py Co-authored-by: Matthias Holoch <mholoch@gmail.com>
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I updated the config and launch files so that
localization_type:=rmcl_micplis compatible with the latest version of RMCL. This option provides anodom -> maptransform (see #4) and does not depend on localization data from the Gazebo simulation. This makes it suitable for real-world use. I hope this helps others move more quickly from simulation to real-world applications when following these tutorials.What's missing is a short description of how to use this. However, I'm not sure where to place that description, probably not in the main README since this repository is not primarily about localization. That said, I'd also be fine with merging this first and adding the explanation later, because the current launch and config files are outdated and no longer work with the current version of RMCL.
Additionally, I fixed the simulation because the LiDAR was scanning through the ceiling of the
parking_garage.(A bit off-topic): We should also tweak better parameters. The robot sometimes get stuck on the ramp of the parking garage. I was trying to find better parameters but at some point the inflation layer stopped reacting to my parameters changes 😕.