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ExperimentalDemos.md

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Demo without odometry (very experimental)

With fake_odom:=true, mcl_3dl node works without odom topic. Increasing number of the particles and noise variance enables localization without odometry. Currently, this feature is very experimental and should be improved in the future.

Download the example bag and run the demo with following arguments.

# Running the demo without odometry
roslaunch mcl_3dl test.launch use_pointcloud_map:=false use_cad_map:=false \
  use_bag_file:=true bag_file:=${HOME}/Downloads/short_test3.bag \
  without_odom:=true

Demo without IMU (very experimental)

With fake_imu:=true, mcl_3dl node works without imu/data topic.

Download the example bag and run the demo with following arguments.

# Running the demo without odometry
roslaunch mcl_3dl test.launch use_pointcloud_map:=false use_cad_map:=false \
  use_bag_file:=true bag_file:=${HOME}/Downloads/short_test3.bag \
  without_imu:=true