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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(dll)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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set(CMAKE_CXX_STANDARD 11)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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tf
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geometry_msgs
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pcl_conversions
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pcl_ros
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octomap_ros
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nav_msgs
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)
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# Ceres solver
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find_package(Ceres REQUIRED)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependencies might have been
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## pulled in transitively but can be declared for certainty nonetheless:
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## * add a build_depend tag for "message_generation"
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES stereo_processing
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# CATKIN_DEPENDS roscpp rospy std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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${CERES_INCLUDE_DIRS}
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)
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## Declare a cpp executable
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add_executable(dll_node src/dll_node.cpp)
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add_executable(grid3d_node src/grid3d_node.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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add_dependencies(dll_node ${catkin_EXPORTED_TARGETS})
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add_dependencies(grid3d_node ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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target_link_libraries(dll_node
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${catkin_LIBRARIES}
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${CERES_LIBRARIES}
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)
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target_link_libraries(grid3d_node
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS stereo_processing stereo_processing_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_stereo_processing.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎README.md‎

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# dll
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DLL: Direct Lidar Localization
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# DLL: Direct Lidar Localization
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Robot localization based on direct registration of 3D LIDAR on maps.
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## Dependencies
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- ceres: Follow in installation instructions for Google Ceres

‎launch/dll.launch‎

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<!--
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-->
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<launch>
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# Bag filename
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<arg name="bag_file" />
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# Use simulation time for TFs
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<param name="use_sim_time" value="true" />
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# Bag file
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<node name="bag_player" type="play" pkg="rosbag" args="$(arg bag_file) --clock -s 0 -r 1.0 -l" />
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# Frames
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<include file="$(find nix_launchers)/launch/frames.launch" />
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<arg name="base_frame_id" default="base_link"/>
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<arg name="odom_frame_id" default="odom"/>
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<arg name="global_frame_id" default="map"/>
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# marsella_mapping_2019.bag
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<arg name="initial_x" default="6.7"/>
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<arg name="initial_y" default="14"/>
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<arg name="initial_z" default="0"/>
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<arg name="initial_a" default="0.18"/>
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<arg name="map" default="marsella_5cm_full.bt" />
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# 2020-06-25-15-10-43_0.bag
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<!--arg name="initial_x" default="6.23"/>
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<arg name="initial_y" default="11.9"/>
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<arg name="initial_z" default="0"/>
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<arg name="initial_a" default="-1.54"/>
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<arg name="map" default="basement_2.bt"/-->
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# Odom to TF
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<!--node pkg="odom_to_tf" type="odom_to_tf.py" name="odom_to_tf">
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<param name="laser_frame" value="base_link"/>
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<param name="rotate_90" value="false"/>
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</node-->
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# Launch DLL
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<node name="dll_node" type="dll_node" pkg="dll" output="screen">
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<remap from="/dll_node/initial_pose" to="/initialpose"/>
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<param name="in_cloud" value="/os1_cloud_node/points_non_dense" />
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<param name="base_frame_id" value="$(arg base_frame_id)" />
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<param name="odom_frame_id" value="$(arg odom_frame_id)" />
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<param name="global_frame_id" value="$(arg global_frame_id)" />
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<param name="rate" value="10.0" />
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<param name="map_path" value="$(find dll)/launch/$(arg map)" />
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<param name="sensor_dev" value="0.02" />
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<param name="publish_point_cloud" value="true" />
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<param name="update_min_d" value="0.1" />
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<param name="update_min_a" value="0.1" />
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<param name="initial_x" value="$(arg initial_x)"/>
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<param name="initial_y" value="$(arg initial_y)"/>
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<param name="initial_z" value="$(arg initial_z)"/>
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<param name="initial_a" value="$(arg initial_a)"/>
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<param name="lidar_width" value="1024" />
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<param name="lidar_height" value="16" />
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<param name="lidar_fov" value="0.7854" />
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<param name="m_lidar_fov_down" value="0.3927" />
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<param name="use_imu" value="false" />
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</node>
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<node name="rviz" type="rviz" pkg="rviz" output="screen"/>
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</launch>

‎package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>dll</name>
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<version>1.0.0</version>
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<description>Direct Lidar Localization (DLL)</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
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<maintainer email="[email protected]">Fernando Caballero</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but mutiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/stereo_processing</url> -->
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<!-- Author tags are optional, mutiple are allowed, one per tag -->
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<!-- Authors do not have to be maintianers, but could be -->
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<!-- Example: -->
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<!-- <author email="[email protected]">Jane Doe</author> -->
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>nav_msgs</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>tf</build_depend>
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<build_depend>libpcl-all-dev</build_depend>
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<build_depend>octomap</build_depend>
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<build_depend>octomap_ros</build_depend>
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<build_depend>pcl_ros</build_depend>
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<run_depend>pcl_ros</run_depend>
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<run_depend>octomap</run_depend>
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<run_depend>octomap_ros</run_depend>
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<run_depend>libpcl-all</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>nav_msgs</run_depend>
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<run_depend>tf</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎src/dll_node.cpp‎

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#include <ros/ros.h>
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#include <string>
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#include "dllnode.hpp"
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "dll_node");
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// Particle filter instance
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std::string node_name = "dll_node";
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DLLNode node(node_name);
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// Process data at given rate
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ros::spin();
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return 0;
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}
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