shinji

Global Localization

Build from source

# build teaser++ library
cd thirdparty/teaserpp
mkdir build && cd build
cmake .. && make -j 12

# build shinji ros package
catkin build shinji -DCMAKE_BUILD_TYPE=Release

Pointcloud map preprocess

cd thirdparty/preprocess
mkdir build && cd build
cmake .. && make -j 12

./preprocess ../config.yaml

usage

rosservice call /shinji/query

rostopic echo /shinji/result