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- Connect the VLP16 to the Traack/Stencil using the circular LEMO connector port on the Stencil
- Open a terminal on the Stencil and run rosrun clay_launch start_mapping.launchsh. If everything is setup right, you should see the mapping start and an RViz window with the mapping pointcloud data and the IMU pose.
- Make sure to make a note of the pose from where the mapping nodes were just launched. Walk around the area you want to be mapped with the Stencil (The computer+ IMU + VLP16) with the mapping nodes running.
- Once you cover all the area you would like to be mapped, kill the mapping nodes from the terminal (Ctrl + C)
- Now run rosrun clay_launch generate_map.sh
- Next run rosrun clay_launch prepare_map_for_localization.sh
- Then go back to the same position and orientation that the mapping was run in and run rosrun clay_launch start_localization.sh. You should see an RViz screen with the real-time VLP16 points aligned with the pre-built map. If the real-time points don't align with the pre-built map, kill the localization nodes, make sure your position and orientation are as close as possible (to the pose when mapping nodes were launched) and re-run rosrun clay_launch start_localization.sh. Now as you move, the IMU pose on RViz window should follow indicating your pose in the mapped area.
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