From a0ce94a5071ed68a9cebbbf06e84e483766ea649 Mon Sep 17 00:00:00 2001 From: Tinker Twins Date: Wed, 20 Mar 2024 18:40:08 -0400 Subject: [PATCH] Update README.md --- hdl_localization/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/hdl_localization/README.md b/hdl_localization/README.md index 1ed85a9..45c67d8 100644 --- a/hdl_localization/README.md +++ b/hdl_localization/README.md @@ -1,6 +1,6 @@ # hdl_localization -***hdl_localization*** is a ROS package for real-time 3D localization using a 3D LIDAR, such as HDL32e or VLP16. This package performs Unscented Kalman Filter-based pose estimation. It first estimates the sensor pose from IMU data (IMU-based pose prediction is optional, if disabled, the system uses a constant velocity model) implemented on the LIDAR, and then performs multi-threaded NDT scan matching between a global map point cloud and input sensor point clouds to correct the estimated pose. +***hdl_localization*** is a ROS package for real-time 3D localization using a 3D LIDAR, such as HDL32e or VLP16. This package performs Unscented Kalman Filter-based pose estimation. It first estimates the sensor pose from IMU data (IMU-based pose prediction is optional, if disabled, the system uses a constant velocity model) implemented on the LIDAR, and then performs multi-threaded NDT scan matching between a global map point cloud and input sensor point clouds to correct the estimated pose. ## Dependencies ***hdl_localization*** requires the following libraries: @@ -43,7 +43,7 @@ cd ROS1_Workspace - ***/relocalize*** (std_srvs/Empty) - Reset the sensor pose with the global localization result -## Example +## Execution Open a terminal and launch `hdl_localization`. ```bash @@ -60,4 +60,4 @@ Open another terminal and call a service to reset the sensor pose with the globa rosservice call /relocalize ``` -> **Note:** If the algorithm does not work very well or if the CPU usage is too high, change `ndt_neighbor_search_method` in `hdl_localization.launch` to `DIRECT1`. It makes the scan matching significantly fast, but is a bit unstable. \ No newline at end of file +> **Note:** If the algorithm does not work very well or if the CPU usage is too high, change `ndt_neighbor_search_method` in `hdl_localization.launch` to `DIRECT1`. It makes the scan matching significantly fast, but is a bit unstable.