• NDT Stanley Controller
  • Description
    • Host PC Configuration
  • How to Run
    • 1. Create a catkin workspace
    • 2. Build the package
    • 3. Run the package

This repository is used to localize the vehicle using the lidar point cloud and ros bag file.

mkdir -p ~/ndt_localization_ws/src
cd  ndt_stanley_controller_ws/src
cd ..
catkin_make
source devel/setup.bash

Note: If you want to use the ros bag file to test the code, you have to declare the topic name in the code same as the topic name that publish in the ros bag file. In this case, the topic name is /velodyne_points.

cd ~/.../ndt_stanley_controller_ws
catkin_make
source devel/setup.bash

cd  ~/.../ndt_stanley_controller_ws/src/ndt_stanley_controller
rosrun ndt_stanley_controller ndt_stanley_controller_node

for play ndt localizer you should to run command given below in different terminal

cd ../ndt_localization_ws
source devel/setup.bash
roslauch roslaunch lidar_localizer ndt_mapping.launch 

for play rosbag record you should to run command given below in different terminal

rosbag play hdl_map.bag --clock

for listen the topic named tf run the following command in different terminal

rostopic echo /tf