This just a test demo. And maintenance may not be updated.
See the blog for the algorithm flow.
This is a package is a "Adaptive Monte-Carlo Localization in 3D".
It is a particle filter that estimates the localization of a robot moving in a 3D environment.
It takes information from an odometry, 3D laser point-clouds.
The amcl3d package has been tested under [ROS] Kinetic and Ubuntu 16.04.
To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
cd catkin_workspace/src
git clone https://github.com/chengwei0427/amcl3d_test.git
cd ../
catkin build