# tsdf_localization

**Repository Path**: jxx315_admin/tsdf_localization

## Basic Information

- **Project Name**: tsdf_localization
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-04-21
- **Last Updated**: 2024-04-21

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# TSDF-based 3D Monte Carlo Localization ROS Package

This package consists of several nodes and tools to perform a 6D Monte Carlo Localization of robots equipped with a 3D LiDAR in 3D TSDF maps.
The sensor update is massively accelerated by a GPU-based implementation, but can also be executed on the CPU.

[![Demo GIF](doc/tsdf_loc_teaser.gif)](https://github.com/uos/tsdf_localization_demo.git)

## Prerequisites
* ROS Noetic (*ros-noetic-desktop-full*)
* ROS packages: See `package.xml`
* OpenMP (for CPU acceleration)
* CUDA (optional, recommended for acceleration)

## Installation

1. Clone this repository into your ROS workspace
```console
$ git clone --recursive https://github.com/uos/tsdf_localization.git
```
2. Make sure have also installed the required external packages or also cloned them into the local ROS workspace

3. Build the ROS workspace
```console
$ catkin build
```

## Demo

A quick startup including how to use tsdf_localization within your package is shown here: https://github.com/uos/tsdf_localization_demo.git

## Citation

Please reference the following papers when using `tsdf_localization` in your scientific work.
 
```latex
@inproceedings{eisoldt2023,
  author={Eisoldt, Marc and Mock, Alexander and Porrmann, Mario and Wiemann, Thomas},
  booktitle={2023 Seventh IEEE International Conference on Robotic Computing (IRC)}, 
  title={{Towards 6D MCL for LiDARs in 3D TSDF Maps on Embedded Systems with GPUs}}, 
  year={2023},
  pages={158-165},
  doi={10.1109/IRC59093.2023.00035}
}
```

## Nodes

### mcl_3d

Starts MCL in a given TSDF map.

#### Subscribed Topics:

`initialpose (geometry_msgs/PoseWithCovarianceStamped)`

Initial pose guess can be provided using RViz.

`/cloud (sensor_msgs/PointCloud2)` 

PointCloud topic for sensor update.

`/odom (nav_msgs/Odometry)`

Odometry message for motion update.

(optional) `/imu_data (sensor_msgs/Imu)`

#### Services

Start global localization:

`/global_localization`


## Contributions

We are happy about issues and pull requests or other feedback. Please let us know if something did not work out as expected.