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3d_ndt_mcl_node.cpp File Reference
#include <ndt_visualisation/ndt_viz.h>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <boost/foreach.hpp>
#include <sensor_msgs/LaserScan.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/OccupancyGrid.h>
#include <visualization_msgs/MarkerArray.h>
#include <tf/transform_broadcaster.h>
#include "geometry_msgs/PoseWithCovarianceStamped.h"
#include "geometry_msgs/Pose.h"
#include <pcl_conversions/pcl_conversions.h>
#include "tf/message_filter.h"
#include <tf_conversions/tf_eigen.h>
#include <message_filters/synchronizer.h>
#include <geometry_msgs/PoseStamped.h>
#include "sensor_msgs/PointCloud2.h"
#include "ndt_mcl/3d_ndt_mcl.h"
#include <ndt_map/ndt_map.h>
Include dependency graph for 3d_ndt_mcl_node.cpp:

Go to the source code of this file.


class  NDTMCL3DNode


#define SYNC_FRAMES   20


< sensor_msgs::PointCloud2,
nav_msgs::Odometry > 


int main (int argc, char **argv)

Define Documentation

#define SYNC_FRAMES   20

3D NDT-MCL Node. This application runs the ndt-mcl localization based on a map and laser scanner and odometry.

The initialization is based now on ground truth pose information (should be replaced with manual input).

The visualization depends on mrpt-gui

More details about the algorithm: Jari Saarinen, Henrik Andreasson, Todor Stoyanov and Achim J. Lilienthal, Normal Distributions Transform Monte-Carlo Localization (NDT-MCL) IEEE/RSJ International Conference on Intelligent Robots and Systems November 3-8, 2013, Tokyo Big Sight, Japan

Jari Saarinen (, mods by Todor Stoyanov : experimental 3D version in progress Global initialization possibility Known issues: in launch file (or hard coded parameters) you have to set the same resolution for NDT map as is saved -- otherwise it wont work

Definition at line 51 of file 3d_ndt_mcl_node.cpp.

Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, nav_msgs::Odometry> PointsOdomSync

Definition at line 53 of file 3d_ndt_mcl_node.cpp.

Function Documentation

int main ( int  argc,
char **  argv 

Definition at line 332 of file 3d_ndt_mcl_node.cpp.

Author(s): Jari Saarinen
autogenerated on Wed Aug 26 2015 15:25:02