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Package Summary

Tags No category tags.
Version 0.0.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/gezp/localization_for_autonomous_driving.git
VCS Type git
VCS Version humble
Last Updated 2024-08-18
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The graph_based_localization package

Additional Links

No additional links.

Maintainers

  • Zhenpeng Ge

Authors

No additional authors.

graph_based_localization

运行demo

ros2 launch graph_based_localization sliding_window.launch.py 

  • 可修改配置文件(graph_based_localization/config/sliding_window.yaml),修改噪声项等参数
  • 运行之前需要先进行建图,确保 ~/localization_data/map/ 下已经有地图文件。

保存轨迹

# kf_based_localizarion/scripts
bash save_odometry.sh

  • 保存的目录在 ~/localization_data/trajectory/

evo 轨迹评估

# kf_based_localizarion/scripts
bash evo_ape.sh fused_pose
bash evo_rpe.sh fused_pose
# 评价lidar pose, 与fused进行对比
bash evo_ape.sh lidar_pose
bash evo_rpe.sh lidar_pose

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged graph_based_localization at Robotics Stack Exchange

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