Localization error in an octomap using humanoid_localization with 3D lidar

[alex75016]

Hello, I'm currently trying to use humanoid_localization in order to localize a robot equipped with 4 3D lidars inside an octomap. I made a simulation on gazebo and created the octomap by moving around the simulation. The next step is launching humanoid localization node and play the bag file containing the captured lidar points. Now the problem is that when I want to localize the robot in this octomap, the position error of the robot is big. Also I must play the bag file slowly otherwise it can't locate the robot at all. I tried to change some parameters inside the nao_localization_laser.yaml but it still doesn't work. Is there any solution to this localization error ?

[dzxbiubiubiu]

Hi:) Recently, i am trying to compile the package ,but i meet some errors, can i get your help? CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): `CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "humanoid_nav_msgs" with any of the following names:

humanoid_nav_msgsConfig.cmake
humanoid_nav_msgs-config.cmake

Add the installation prefix of "humanoid_nav_msgs" to CMAKE_PREFIX_PATH or set "humanoid_nav_msgs_DIR" to a directory containing one of the above files. If "humanoid_nav_msgs" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): humanoid_navigation/footstep_planner/CMakeLists.txt:10 (find_package) ` Thank you very much!