Install and run natively

This package was tested and works under Ubuntu 16.04 and ROS kinetic. You will need csm, CGAL 4.7 and fftw3 as dependencies.

Install

cd ~/catkin_ws/src
git clone git@github.com:li9i/cbgl.git
cd cbgl; mv cbgl/* $PWD; rmdir cbgl; cd ../..
catkin build cbgl

roslaunch cbgl cbgl.launch

Launching cbgl simply makes it go into stand-by mode and does not actually execute global localisation. To do so simply call the provided service

rosservice call /global_localization