How to run mcl_3dl with multiple lidars (pointcloud2) ?

[HappySamuel]

Hi @at-wat

I just noticed the description of the mcl_3dl is performing a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s).

How shall i enable it to run with multiple 3D lidars?

Best,
Samuel

[at-wat]

mcl_3dl subscribes multiple 3D pointclouds (can have multiple frame_id) from /cloud.
Transform of multiple frame_ids are handled inside mcl_3dl, so you can just supply all pointclouds into one topic.

[HappySamuel]

Hi @at-wat

How will multiple 3D pointclouds data affect the localization result?

Best,
Samuel

[flynneva]

hey @at-wat, running into the same question over here. how can we put multiple lidars into the same topic as you suggest? is it only a launch file change?

[at-wat]

@flynneva For example in the launch file

<node name="lidar_3d_driver1" ...>
  <remap from="original_topic" to="cloud" />
</node>
<node name="lidar_3d_driver2" ...>
  <remap from="original_topic" to="cloud" />
</node>

or

<node name="lidar_3d_driver1" ... /><!-- publishing to cloud1 -->
<node name="lidar_3d_driver2" ... /><!-- publishing to cloud2 -->

<node pkg="topic_tools" type="relay" name="relay1" args="cloud1 cloud" />
<node pkg="topic_tools" type="relay" name="relay1" args="cloud2 cloud" />

[at-wat]

@HappySamuel mcl_3dl accumulates multiple scans from multiple lidars and process them taking their poses at the timestamp of each message into account.

[HappySamuel]

Hi @at-wat

Can it take in the pointcloud data from 3D pointcloud camera as well?

Best
Samuel

[at-wat]

Can it take in the pointcloud data from 3D pointcloud camera as well?

I have never tried.