Initial commit

CMakeLists.txt

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

README.md

@@ -1,2 +1,7 @@
-# dll
-DLL: Direct Lidar Localization
+# DLL: Direct Lidar Localization
+
+Robot localization based on direct registration of 3D LIDAR on maps.
+
+## Dependencies
+
+ - ceres: Follow in installation instructions for Google Ceres

launch/dll.launch

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

package.xml

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

src/dll_node.cpp

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