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Beluga VDB: AMCL3 Localization Demo!

This package provides 2 maps based on the botanic garden dataset. The rosbags from the botanic garden dataset were modified (/odom topic was added and several topics were removed) to be able to run on this demo. Currently, only 2 sequences can be tested: 1005-07 and 1006-01.

Sequence 1005-07 Sequence 1006-01

Pre-requisites

Request map and bags from the team

Request the maps and bags from the team and store the maps under beluga_demo/localization/beluga_demo_amcl3_localization/maps and the bags under beluga_demo/localization/beluga_demo_amcl3_localization/rosbags.

Local machine (Only Humble)

If you want to run this example on your local machine and not in the provided docker image, you need to download and compile the pcl_perception repo release 2.6.1 by yourself. Because the filters provided for humble are not compiled as plugins.

Quick start

Step 1: File verification

Inside the docker container verify that you have the following file structure:

    beluga_demo_amcl3_localization/
    ├── maps/
    │   ├── map_1005_07.vdb
    │   └── map_1006_01.vdb
    ├── rosbags/
    │    ├── botanic_garden_tf_1005_07/
    │    │   ├── botanic_garden_tf_1005_07.db3
    │    │   └── metadata.yaml
    │    └── botanic_garden_tf_1006_01/
    │        ├── botanic_garden_tf_1006_01.db3
    │        └── metadata.yaml
    ├── doc/
    ├── launch/
    ├── rviz/
    ├── scripts/
    └── src/

Step 2: Build the demo software code

Now you need to build the demo software stack:

demo_build

Step 3: Launch the AMCL3 node

You can now launch the AMCL3 node and Rviz using:

amcl3_localization_demo

Step 4: Run the bag

Finally, play the rosbag:

ros2 bag play ~/ws/src/beluga_demo/localization/beluga_demo_amcl3_localization/rosbags/botanic_garden_tf_1005_07/botanic_garden_tf_1005_07.db3

Once the bag starts playing you'll see that Rviz shows the pointcloud, pose estimation, particle filter belief, etc (see the screen capture below):

Demo running

You can stop the demo by pressing Ctrl+C in the terminal where rviz and the rosbag are running.

Maps

To test a different map the following variable in src/beluga_amcl3_demo.cpp must be changed accordingly:

  const std::string kMapFile = ament_index_cpp::get_package_share_directory("beluga_demo_amcl3_localization") + "/maps/map_1005_07.vdb";