quickmcl
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VorpalBlade
QuickMCL - Monte Carlo Localisation for ROS
CI appears to have broken during the last year. Build fails with the following, which doesn't make much sense: ``` quickmcl: Cannot locate rosdep definition for [rosunit] ```
ROS2 Inquery
Hi, I'm a maintainer / developer on ROS2 Navigation [1] and was curious about this. I saw you posted on Navigation and in my glancing around I found your blog...
https://github.com/VorpalBlade/ros_spatial_utils has code split out from this project. QuickMCL should use that code, and the duplication should be removed. Main issue is to figure out how to make this work...
Apparently CircleCI runs out of memory when compiling. Look into a way to reduce the -j option to make, or switch to a different CI.
Add some test that starts up the entire node and performs some basic testing.
Currently it is assumed in LaserSub::laser_callback in laser_handler.cpp that the point cloud is already in the proper reference frame (base_link). It would be nice to support transforming it with TF2.
It might be worth it to move scan sub-sampling earlier. Currently it happens in MapLikelihood::update_importance, but at this point the point cloud has already been transformed via TF into a...