feat(slam): add cartographer_ros
This commit is contained in:
X-lanni
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required (VERSION 2.8.7)
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project(cartographer_ros_docs)
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find_package(Sphinx)
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if(SPHINX_FOUND)
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set(OUTPUT_DIR "${PROJECT_BINARY_DIR}/docs/html")
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add_custom_target(build_doc_ros ALL
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${SPHINX_EXECUTABLE} -b html
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${CMAKE_CURRENT_SOURCE_DIR}/source
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${CMAKE_CURRENT_BINARY_DIR}/html
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COMMENT "Building documentation."
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)
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endif()
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.. Copyright 2018 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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Algorithm walkthrough for tuning
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================================
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Cartographer is a complex system and tuning it requires a good understanding of its inner working.
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This page tries to give an intuitive overview of the different subsystems used by Cartographer along with their configuration values.
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If you are interested in more than an introduction to Cartographer, you should refer to the Cartographer paper.
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It only describes the 2D SLAM but it defines rigourously most of the concepts described here.
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Those concepts generally apply to 3D as well.
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W. Hess, D. Kohler, H. Rapp, and D. Andor,
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`Real-Time Loop Closure in 2D LIDAR SLAM`_, in
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*Robotics and Automation (ICRA), 2016 IEEE International Conference on*.
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IEEE, 2016. pp. 1271–1278.
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.. _Real-Time Loop Closure in 2D LIDAR SLAM: https://research.google.com/pubs/pub45466.html
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Overview
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--------
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.. image:: https://raw.githubusercontent.com/cartographer-project/cartographer/master/docs/source/high_level_system_overview.png
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:target: https://github.com/cartographer-project/cartographer/blob/master/docs/source/high_level_system_overview.png
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Cartographer can be seen as two separate, but related subsystems.
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The first one is **local SLAM** (sometimes also called **frontend** or local trajectory builder).
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Its job is to build a succession of **submaps**.
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Each submap is meant to be locally consistent but we accept that local SLAM drifts over time.
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Most of the local SLAM options can be found in `install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua`_ for 2D and `install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua`_ for 3D. (for the rest of this page we will refer to `TRAJECTORY_BUILDER_nD` for the common options)
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.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_2d.lua
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.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_3d.lua
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The other subsystem is **global SLAM** (sometimes called the **backend**).
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It runs in background threads and its main job is to find **loop closure constraints**.
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It does that by scan-matching **scans** (gathered in **nodes**) against submaps.
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It also incorporates other sensor data to get a higher level view and identify the most consistent global solution.
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In 3D, it also tries to find the direction of gravity.
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Most of its options can be found in `install_isolated/share/cartographer/configuration_files/pose_graph.lua`_
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.. _install_isolated/share/cartographer/configuration_files/pose_graph.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/pose_graph.lua
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On a higher abstraction, the job of local SLAM is to generate good submaps and the job of global SLAM is to tie them most consistently together.
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Input
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-----
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Range finding sensors (for example: LIDARs) provide depth information in multiple directions.
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However, some of the measurements are irrelevant for SLAM.
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If the sensor is partially covered with dust or if it is directed towards a part of the robot, some of the measured distance can be considered as noise for SLAM.
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On the other hand, some of the furthest measurements can also come from undesired sources (reflection, sensor noise) and are irrelevant for SLAM as well.
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To tackle those issue, Cartographer starts by applying a bandpass filter and only keeps range values between a certain min and max range.
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Those min and max values should be chosen according to the specifications of your robot and sensors.
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.. code-block:: lua
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TRAJECTORY_BUILDER_nD.min_range
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TRAJECTORY_BUILDER_nD.max_range
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.. note::
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In 2D, Cartographer replaces ranges further than max_range by ``TRAJECTORY_BUILDER_2D.missing_data_ray_length``. It also provides a ``max_z`` and ``min_z`` values to filter 3D point clouds into a 2D cut.
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.. note::
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In Cartographer configuration files, every distance is defined in meters
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Distances are measured over a certain period of time, while the robot is actually moving.
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However, distances are delivered by sensors "in batch" in large ROS messages.
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Each of the messages' timestamp can be considered independently by Cartographer to take into account deformations caused by the robot's motion.
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The more often Cartographer gets measurements, the better it becomes at unwarping the measurements to assemble a single coherent scan that could have been captured instantly.
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It is therefore strongly encouraged to provide as many range data (ROS messages) by scan (a set of range data that can be matched against another scan) as possible.
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.. code-block:: lua
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TRAJECTORY_BUILDER_nD.num_accumulated_range_data
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Range data is typically measured from a single point on the robot but in multiple angles.
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This means that close surfaces (for instance the road) are very often hit and provide lots of points.
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On the opposite, far objects are less often hit and offer less points.
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In order to reduce the computational weight of points handling, we usually need to subsample point clouds.
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However, a simple random sampling would remove points from areas where we already have a low density of measurements and the high-density areas would still have more points than needed.
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To address that density problem, we can use a voxel filter that downsamples raw points into cubes of a constant size and only keeps the centroid of each cube.
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A small cube size will result in a more dense data representation, causing more computations.
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A large cube size will result in a data loss but will be much quicker.
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.. code-block:: lua
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TRAJECTORY_BUILDER_nD.voxel_filter_size
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After having applied a fixed-size voxel filter, Cartographer also applies an **adaptive voxel filter**.
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This filter tries to determine the optimal voxel size (under a max length) to achieve a target number of points.
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In 3D, two adaptive voxel filters are used to generate a high resolution and a low resolution point clouds, their usage will be clarified in :ref:`local-slam`.
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.. code-block:: lua
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TRAJECTORY_BUILDER_nD.*adaptive_voxel_filter.max_length
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TRAJECTORY_BUILDER_nD.*adaptive_voxel_filter.min_num_points
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An Inertial Measurement Unit can be an useful source of information for SLAM because it provides an accurate direction of gravity (hence, of the ground) and a noisy but good overall indication of the robot's rotation.
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In order to filter the IMU noise, gravity is observed over a certain amount of time.
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If you use 2D SLAM, range data can be handled in real-time without an additional source of information so you can choose whether you'd like Cartographer to use an IMU or not.
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With 3D SLAM, you need to provide an IMU because it is used as an initial guess for the orientation of the scans, greatly reducing the complexity of scan matching.
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.. code-block:: lua
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TRAJECTORY_BUILDER_2D.use_imu_data
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TRAJECTORY_BUILDER_nD.imu_gravity_time_constant
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.. note::
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In Cartographer configuration files, every time value is defined in seconds
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.. _local-slam:
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Local SLAM
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----------
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Once a scan has been assembled and filtered from multiple range data, it is ready for the local SLAM algorithm.
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Local SLAM inserts a new scan into its current submap construction by **scan matching** using an initial guess from the **pose extrapolator**.
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The idea behind the pose extrapolator is to use sensor data of other sensors besides the range finder to predict where the next scan should be inserted into the submap.
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Two scan matching strategies are available:
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- The ``CeresScanMatcher`` takes the initial guess as prior and finds the best spot where the scan match fits the submap.
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It does this by interpolating the submap and sub-pixel aligning the scan.
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This is fast, but cannot fix errors that are significantly larger than the resolution of the submaps.
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If your sensor setup and timing is reasonable, using only the ``CeresScanMatcher`` is usually the best choice to make.
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- The ``RealTimeCorrelativeScanMatcher`` can be enabled if you do not have other sensors or you do not trust them.
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It uses an approach similar to how scans are matched against submaps in loop closure (described later), but instead it matches against the current submap.
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The best match is then used as prior for the ``CeresScanMatcher``.
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This scan matcher is very expensive and will essentially override any signal from other sensors but the range finder, but it is robust in feature rich environments.
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Either way, the ``CeresScanMatcher`` can be configured to give a certain weight to each of its input.
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The weight is a measure of trust into your data, this can be seen as a static covariance.
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The unit of weight parameters are dimensionless quantities and can't be compared between each others.
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The bigger the weight of a source of data is, the more emphasis Cartographer will put on this source of data when doing scan matching.
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Sources of data include occupied space (points from the scan), translation and rotation from the pose extrapolator (or ``RealTimeCorrelativeScanMatcher``)
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.. code-block:: lua
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TRAJECTORY_BUILDER_3D.ceres_scan_matcher.occupied_space_weight
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TRAJECTORY_BUILDER_3D.ceres_scan_matcher.occupied_space_weight_0
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TRAJECTORY_BUILDER_3D.ceres_scan_matcher.occupied_space_weight_1
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TRAJECTORY_BUILDER_nD.ceres_scan_matcher.translation_weight
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TRAJECTORY_BUILDER_nD.ceres_scan_matcher.rotation_weight
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.. note::
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In 3D, the ``occupied_space_weight_0`` and ``occupied_space_weight_1`` parameters are related, respectively, to the high resolution and low resolution filtered point clouds.
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The ``CeresScanMatcher`` gets its name from `Ceres Solver`_, a library developed at Google to solve non-linear least squares problems.
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The scan matching problem is modelled as the minimization of such a problem with the **motion** (a transformation matrix) between two scans being a parameter to determine.
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Ceres optimizes the motion using a descent algorithm for a given number of iterations.
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Ceres can be configured to adapt the convergence speed to your own needs.
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.. _Ceres Solver: http://ceres-solver.org/
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.. code-block:: lua
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TRAJECTORY_BUILDER_nD.ceres_scan_matcher.ceres_solver_options.use_nonmonotonic_steps
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TRAJECTORY_BUILDER_nD.ceres_scan_matcher.ceres_solver_options.max_num_iterations
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TRAJECTORY_BUILDER_nD.ceres_scan_matcher.ceres_solver_options.num_threads
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The ``RealTimeCorrelativeScanMatcher`` can be toggled depending on the trust you have in your sensors.
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It works by searching for similar scans in a **search window** which is defined by a maximum distance radius and a maximum angle radius.
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When performing scan matching with scans found in this window, a different weight can be chosen for the translational and rotational components.
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You can play with those weight if, for example, you know that your robot doesn't rotate a lot.
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.. code-block:: lua
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TRAJECTORY_BUILDER_nD.use_online_correlative_scan_matching
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TRAJECTORY_BUILDER_nD.real_time_correlative_scan_matcher.linear_search_window
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TRAJECTORY_BUILDER_nD.real_time_correlative_scan_matcher.angular_search_window
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TRAJECTORY_BUILDER_nD.real_time_correlative_scan_matcher.translation_delta_cost_weight
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TRAJECTORY_BUILDER_nD.real_time_correlative_scan_matcher.rotation_delta_cost_weight
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To avoid inserting too many scans per submaps, once a motion between two scans is found by the scan matcher, it goes through a **motion filter**.
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A scan is dropped if the motion that led to it is not considered as significant enough.
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A scan is inserted into the current submap only if its motion is above a certain distance, angle or time threshold.
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.. code-block:: lua
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TRAJECTORY_BUILDER_nD.motion_filter.max_time_seconds
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TRAJECTORY_BUILDER_nD.motion_filter.max_distance_meters
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TRAJECTORY_BUILDER_nD.motion_filter.max_angle_radians
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A submap is considered as complete when the local SLAM has received a given amount of range data.
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Local SLAM drifts over time, global SLAM is used to fix this drift.
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Submaps must be small enough so that the drift inside them is below the resolution, so that they are locally correct.
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On the other hand, they should be large enough to be distinct for loop closure to work properly.
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.. code-block:: lua
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TRAJECTORY_BUILDER_nD.submaps.num_range_data
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Submaps can store their range data in a couple of different data structures:
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The most widely used representation is called probability grids.
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However, in 2D, one can also choose to use Truncated Signed Distance Fields (TSDF).
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.. code-block:: lua
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TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.grid_type
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Probability grids cut out space into a 2D or 3D table where each cell has a fixed size and contains the odds of being obstructed.
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Odds are updated according to "*hits*" (where the range data is measured) and "*misses*" (the free space between the sensor and the measured points).
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Both *hits* and *misses* can have a different weight in occupancy probability calculations giving more or less trust to occupied or free space measurements.
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.. code-block:: lua
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TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.hit_probability
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TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.miss_probability
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TRAJECTORY_BUILDER_3D.submaps.range_data_inserter.hit_probability
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TRAJECTORY_BUILDER_3D.submaps.range_data_inserter.miss_probability
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In 2D, only one probability grid per submap is stored.
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In 3D, for scan matching performance reasons, two *hybrid* probability grids are used.
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(the term "hybrid" only refers to an internal tree-like data representation and is abstracted to the user)
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- a low resolution hybrid grid for far measurements
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- a high resolution hybrid grid for close measurements
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Scan matching starts by aligning far points of the low resolution point cloud with the low resolution hybrid grid and then refines the pose by aligning the close high resolution points with the high resolution hybrid grid.
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.. code-block:: lua
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TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution
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TRAJECTORY_BUILDER_3D.submaps.high_resolution
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TRAJECTORY_BUILDER_3D.submaps.low_resolution
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TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter.max_range
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TRAJECTORY_BUILDER_3D.low_resolution_adaptive_voxel_filter.max_range
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.. note::
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Cartographer ROS provides an RViz plugin to visualize submaps. You can select the submaps you want to see from their number. In 3D, RViz only shows 2D projections of the 3D hybrid probability grids (in grayscale). Options are made available in RViz's left pane to switch between the low and high resolution hybrid grids visualization.
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**TODO**: *Documenting TSDF configuration*
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Global SLAM
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-----------
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While the local SLAM generates its succession of submaps, a global optimization (usually refered to as "*the optimization problem*" or "*sparse pose adjustment*") task runs in background.
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Its role is to re-arrange submaps between each other so that they form a coherent global map.
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For instance, this optimization is in charge of altering the currently built trajectory to properly align submaps with regards to loop closures.
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The optimization is run in batches once a certain number of trajectory nodes was inserted. Depending on how frequently you need to run it, you can tune the size of these batches.
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.. code-block:: lua
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POSE_GRAPH.optimize_every_n_nodes
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|
||||
.. note::
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||||
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||||
Setting POSE_GRAPH.optimize_every_n_nodes to 0 is a handy way to disable global SLAM and concentrate on the behavior of local SLAM. This is usually one of the first thing to do to tune Cartographer.
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The global SLAM is a kind of "*GraphSLAM*", it is essentially a pose graph optimization which works by building **constraints** between **nodes** and submaps and then optimizing the resulting constraints graph.
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Constraints can intuitively be thought of as little ropes tying all nodes together.
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The sparse pose adjustement fastens those ropes altogether.
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The resulting net is called the "*pose graph*".
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.. note::
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||||
Constraints can be visualized in RViz, it is very handy to tune global SLAM. One can also toggle ``POSE_GRAPH.constraint_builder.log_matches`` to get regular reports of the constraints builder formatted as histograms.
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- Non-global constraints (also known as intra submaps constraints) are built automatically between nodes that are closely following each other on a trajectory.
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Intuitively, those "*non-global ropes*" keep the local structure of the trajectory coherent.
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- Global constraints (also referred to as loop closure constraints or inter submaps contraints) are regularly searched between a new submap and previous nodes that are considered "*close enough*" in space (part of a certain **search window**) and a strong fit (a good match when running scan matching).
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Intuitively, those "*global ropes*" introduce knots in the structure and firmly bring two strands closer.
|
||||
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||||
.. code-block:: lua
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||||
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||||
POSE_GRAPH.constraint_builder.max_constraint_distance
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POSE_GRAPH.fast_correlative_scan_matcher.linear_search_window
|
||||
POSE_GRAPH.fast_correlative_scan_matcher_3d.linear_xy_search_window
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POSE_GRAPH.fast_correlative_scan_matcher_3d.linear_z_search_window
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POSE_GRAPH.fast_correlative_scan_matcher*.angular_search_window
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.. note::
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||||
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In practice, global constraints can do more than finding loop closures on a single trajectory. They can also align different trajectories recorded by multiple robots but we will keep this usage and the parameters related to "global localization" out of the scope of this document.
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||||
To limit the amount of constraints (and computations), Cartographer only considers a subsampled set of all close nodes for constraints building.
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This is controlled by a sampling ratio constant.
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||||
Sampling too few nodes could result in missed constraints and ineffective loop closures.
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||||
Sampling too many nodes would slow the global SLAM down and prevent real-time loop closures.
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||||
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||||
.. code-block:: lua
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||||
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||||
POSE_GRAPH.constraint_builder.sampling_ratio
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||||
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||||
When a node and a submap are considered for constraint building, they go through a first scan matcher called the ``FastCorrelativeScanMatcher``.
|
||||
This scan matcher has been specifically designed for Cartographer and makes real-time loop closures scan matching possible.
|
||||
The ``FastCorrelativeScanMatcher`` relies on a "*Branch and bound*" mechanism to work at different grid resolutions and efficiently eliminate incorrect matchings.
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||||
This mechanism is extensively presented in the Cartographer paper presented earlier in this document.
|
||||
It works on an exploration tree whose depth can be controlled.
|
||||
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||||
.. code-block:: lua
|
||||
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||||
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.branch_and_bound_depth
|
||||
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher_3d.branch_and_bound_depth
|
||||
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher_3d.full_resolution_depth
|
||||
|
||||
Once the ``FastCorrelativeScanMatcher`` has a good enough proposal (above a minimum score of matching), it is then fed into a Ceres Scan Matcher to refine the pose.
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
POSE_GRAPH.constraint_builder.min_score
|
||||
POSE_GRAPH.constraint_builder.ceres_scan_matcher_3d
|
||||
POSE_GRAPH.constraint_builder.ceres_scan_matcher
|
||||
|
||||
When Cartographer runs *the optimization problem*, Ceres is used to rearrange submaps according to multiple *residuals*.
|
||||
Residuals are calculated using weighted cost functions.
|
||||
The global optimization has cost functions to take into account plenty of data sources: the global (loop closure) constraints, the non-global (matcher) constraints, the IMU acceleration and rotation measurements, the local SLAM rough pose estimations, an odometry source or a fixed frame (such as a GPS system).
|
||||
The weights and Ceres options can be configured as described in the :ref:`local-slam` section.
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
POSE_GRAPH.constraint_builder.loop_closure_translation_weight
|
||||
POSE_GRAPH.constraint_builder.loop_closure_rotation_weight
|
||||
POSE_GRAPH.matcher_translation_weight
|
||||
POSE_GRAPH.matcher_rotation_weight
|
||||
POSE_GRAPH.optimization_problem.*_weight
|
||||
POSE_GRAPH.optimization_problem.ceres_solver_options
|
||||
|
||||
.. note::
|
||||
|
||||
One can find useful information about the residuals used in the optimization problem by toggling ``POSE_GRAPH.max_num_final_iterations``
|
||||
|
||||
As part of its IMU residual, the optimization problem gives some flexibility to the IMU pose and, by default, Ceres is free to optimize the extrinsic calibration between your IMU and tracking frame.
|
||||
If you don't trust your IMU pose, the results of Ceres' global optimization can be logged and used to improve your extrinsic calibration.
|
||||
If Ceres doesn't optimize your IMU pose correctly and you trust your extrinsic calibration enough, you can make this pose constant.
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
POSE_GRAPH.optimization_problem.log_solver_summary
|
||||
POSE_GRAPH.optimization_problem.use_online_imu_extrinsics_in_3d
|
||||
|
||||
In residuals, the influence of outliers is handled by a **Huber loss** function configured with a certain a Huber scale.
|
||||
The bigger the Huber scale, `the higher is the impact`_ of (potential) outliers.
|
||||
|
||||
.. _the higher is the impact: https://github.com/ceres-solver/ceres-solver/blob/0d3a84fce553c9f7aab331f0895fa7b1856ef5ee/include/ceres/loss_function.h#L172
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
POSE_GRAPH.optimization_problem.huber_scale
|
||||
|
||||
Once the trajectory is finished, Cartographer runs a new global optimization with, typically, a lot more iterations than previous global optimizations.
|
||||
This is done to polish the final result of Cartographer and usually does not need to be real-time so a large number of iterations is often a right choice.
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
POSE_GRAPH.max_num_final_iterations
|
||||
@@ -0,0 +1,133 @@
|
||||
.. Copyright 2018 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
.. cartographer SHA: 30f7de1a325d6604c780f2f74d9a345ec369d12d
|
||||
.. cartographer_ros SHA: 44459e18102305745c56f92549b87d8e91f434fe
|
||||
|
||||
.. _assets_writer:
|
||||
|
||||
Exploiting the map generated by Cartographer ROS
|
||||
================================================
|
||||
|
||||
As sensor data come in, the state of a SLAM algorithm such as Cartographer evolves to stay *the current best estimate* of a robot's trajectory and surroundings.
|
||||
The most accurate localization and mapping Cartographer can offer is therefore the one obtained when the algorithm finishes.
|
||||
Cartographer can serialize its internal state in a ``.pbstream`` file format which is essentially a compressed protobuf file containing a snapshot of the data structures used by Cartographer internally.
|
||||
|
||||
To run efficiently in real-time, Cartographer throws most of its sensor data away immediately and only works with a small subset of its input, the mapping used internally (and saved in ``.pbstream`` files) is then very rough.
|
||||
However, when the algorithm finishes and a best trajectory is established, it can be recombined *a posteriori* with the full sensors data to create a high resolution map.
|
||||
|
||||
Cartographer makes this kind of recombination possible using ``cartographer_assets_writer``.
|
||||
The assets writer takes as input
|
||||
|
||||
1. the original sensors data that has been used to perform SLAM (in a ROS ``.bag`` file),
|
||||
2. a cartographer state captured while performing SLAM on this sensor data (saved in a ``.pbstream`` file),
|
||||
3. the sensor extrinsics (i.e. TF data from the bag or an URDF description),
|
||||
4. and a pipeline configuration, which is defined in a ``.lua`` file.
|
||||
|
||||
The assets writer runs through the ``.bag`` data in batches with the trajectory found in the ``.pbstream``.
|
||||
The pipeline can be used to color, filter and export SLAM point cloud data into a variety of formats.
|
||||
There are multiple of such points processing steps that can be interleaved in a pipeline - several ones are already available from `cartographer/io`_.
|
||||
|
||||
Sample Usage
|
||||
------------
|
||||
|
||||
When running Cartographer with an offline node, a ``.pbstream`` file is automatically saved.
|
||||
For instance, with the 3D backpack example:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
|
||||
roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
|
||||
|
||||
Watch the output on the commandline until the node terminates.
|
||||
It will have written ``b3-2016-04-05-14-14-00.bag.pbstream`` which represents the Cartographer state after it processed all data and finished all optimizations.
|
||||
|
||||
When running as an online node, Cartographer doesn't know when your bag (or sensor input) ends so you need to use the exposed services to explicitly finish the current trajectory and make Cartographer serialize its current state:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
# Finish the first trajectory. No further data will be accepted on it.
|
||||
rosservice call /finish_trajectory 0
|
||||
|
||||
# Ask Cartographer to serialize its current state.
|
||||
# (press tab to quickly expand the parameter syntax)
|
||||
rosservice call /write_state "{filename: '${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream', include_unfinished_submaps: "true"}"
|
||||
|
||||
Once you've retrieved your ``.pbstream`` file, you can run the assets writer with the `sample pipeline`_ for the 3D backpack:
|
||||
|
||||
.. _sample pipeline: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
roslaunch cartographer_ros assets_writer_backpack_3d.launch \
|
||||
bag_filenames:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag \
|
||||
pose_graph_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream
|
||||
|
||||
All output files are prefixed with ``--output_file_prefix`` which defaults to the filename of the first bag.
|
||||
For the last example, if you specify ``points.ply`` in the pipeline configuration file, this will translate to ``${HOME}/Downloads/b3-2016-04-05-14-14-00.bag_points.ply``.
|
||||
|
||||
Configuration
|
||||
-------------
|
||||
|
||||
The assets writer is modeled as a pipeline of `PointsProcessor`_ steps.
|
||||
`PointsBatch`_ data flows through each processor and they all have the chance to modify the ``PointsBatch`` before passing it on.
|
||||
|
||||
.. _PointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_processor.h
|
||||
.. _PointsBatch: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_batch.h
|
||||
|
||||
For example the `assets_writer_backpack_3d.lua`_ pipeline uses ``min_max_range_filter`` to remove points that are either too close or too far from the sensor.
|
||||
After this, it saves "*X-Rays*" (translucent side views of the map), then recolors the ``PointsBatch``\ s depending on the sensor frame ids and writes another set of X-Rays using these new colors.
|
||||
|
||||
.. _assets_writer_backpack_3d.lua: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua
|
||||
|
||||
The available ``PointsProcessor``\ s are all defined in the `cartographer/io`_ sub-directory and documented in their individual header files.
|
||||
|
||||
.. _cartographer/io: https://github.com/cartographer-project/cartographer/tree/f1ac8967297965b8eb6f2f4b08a538e052b5a75b/cartographer/io
|
||||
|
||||
* **color_points**: Colors points with a fixed color by frame_id.
|
||||
* **dump_num_points**: Passes through points, but keeps track of how many points it saw and output that on Flush.
|
||||
* **fixed_ratio_sampler**: Only let a fixed 'sampling_ratio' of points through. A 'sampling_ratio' of 1. makes this filter a no-op.
|
||||
* **frame_id_filter**: Filters all points with blacklisted frame_id or a non-whitelisted frame id. Note that you can either specify the whitelist or the blacklist, but not both at the same time.
|
||||
* **write_hybrid_grid**: Creates a hybrid grid of the points with voxels being 'voxel_size' big. 'range_data_inserter' options are used to configure the range data ray tracing through the hybrid grid.
|
||||
* **intensity_to_color**: Applies ('intensity' - min) / (max - min) * 255 and color the point grey with this value for each point that comes from the sensor with 'frame_id'. If 'frame_id' is empty, this applies to all points.
|
||||
* **min_max_range_filtering**: Filters all points that are farther away from their 'origin' as 'max_range' or closer than 'min_range'.
|
||||
* **voxel_filter_and_remove_moving_objects**: Voxel filters the data and only passes on points that we believe are on non-moving objects.
|
||||
* **write_pcd**: Streams a PCD file to disk. The header is written in 'Flush'.
|
||||
* **write_ply**: Streams a PLY file to disk. The header is written in 'Flush'.
|
||||
* **write_probability_grid**: Creates a probability grid with the specified 'resolution'. As all points are projected into the x-y plane the z component of the data is ignored. 'range_data_inserter' options are used to configure the range data ray tracing through the probability grid.
|
||||
* **write_xray_image**: Creates X-ray cuts through the points with pixels being 'voxel_size' big.
|
||||
* **write_xyz**: Writes ASCII xyz points.
|
||||
|
||||
First-person visualization of point clouds
|
||||
------------------------------------------
|
||||
|
||||
Two ``PointsProcessor``\ s are of particular interest: ``pcd_writing`` and ``ply_writing`` can save a point cloud in a ``.pcd`` or ``.ply`` file format.
|
||||
These file formats can then be used by specialized software such as `point_cloud_viewer`_ or `meshlab`_ to navigate through the high resolution map.
|
||||
|
||||
.. _point_cloud_viewer: https://github.com/cartographer-project/point_cloud_viewer
|
||||
.. _meshlab: http://www.meshlab.net/
|
||||
|
||||
The typical assets writer pipeline for this outcome is composed of an IntensityToColorPointsProcessor_ giving points a non-white color, then a PlyWritingPointsProcessor_ exporting the results to a ``.ply`` point cloud.
|
||||
An example of such a pipeline is in `assets_writer_backpack_2d.lua`_.
|
||||
|
||||
.. _IntensityToColorPointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/intensity_to_color_points_processor.cc
|
||||
.. _PlyWritingPointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/ply_writing_points_processor.h
|
||||
.. _assets_writer_backpack_2d.lua: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua
|
||||
|
||||
Once you have the ``.ply``, follow the README of `point_cloud_viewer`_ to generate an on-disk octree data structure which can be viewed by one of the viewers (SDL or web based) in the same repo.
|
||||
Note that color is required for ``point_cloud_viewer`` to function.
|
||||
|
||||
.. _point_cloud_viewer: https://github.com/cartographer-project/point_cloud_viewer
|
||||
|
||||
.. image:: point_cloud_viewer_demo_3d.jpg
|
||||
@@ -0,0 +1,97 @@
|
||||
.. Copyright 2018 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
==========================
|
||||
Compiling Cartographer ROS
|
||||
==========================
|
||||
|
||||
System Requirements
|
||||
===================
|
||||
|
||||
The Cartographer ROS requirements are the same as `the ones from Cartographer`_.
|
||||
|
||||
The following `ROS distributions`_ are currently supported:
|
||||
|
||||
* Kinetic
|
||||
* Melodic
|
||||
* Noetic
|
||||
|
||||
.. _the ones from Cartographer: https://google-cartographer.readthedocs.io/en/latest/#system-requirements
|
||||
.. _ROS distributions: http://wiki.ros.org/Distributions
|
||||
|
||||
Building & Installation
|
||||
=======================
|
||||
|
||||
In order to build Cartographer ROS, we recommend using `wstool <http://wiki.ros.org/wstool>`_ and `rosdep
|
||||
<http://wiki.ros.org/rosdep>`_. For faster builds, we also recommend using
|
||||
`Ninja <https://ninja-build.org>`_.
|
||||
|
||||
On Ubuntu Focal with ROS Noetic use these commands to install the above tools:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
|
||||
|
||||
On older distributions:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y python-wstool python-rosdep ninja-build stow
|
||||
|
||||
After the tools are installed, create a new cartographer_ros workspace in 'catkin_ws'.
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
mkdir catkin_ws
|
||||
cd catkin_ws
|
||||
wstool init src
|
||||
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
|
||||
wstool update -t src
|
||||
|
||||
Now you need to install cartographer_ros' dependencies.
|
||||
First, we use ``rosdep`` to install the required packages.
|
||||
The command 'sudo rosdep init' will print an error if you have already executed it since installing ROS. This error can be ignored.
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
sudo rosdep init
|
||||
rosdep update
|
||||
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
|
||||
|
||||
# Only on Ubuntu 16 / ROS Kinetic: src/cartographer/scripts/install_proto3.sh
|
||||
|
||||
Cartographer uses the `abseil-cpp`_ library that needs to be manually installed using this script:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
src/cartographer/scripts/install_abseil.sh
|
||||
|
||||
Due to conflicting versions you might need to uninstall the ROS abseil-cpp using
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp
|
||||
|
||||
Build and install.
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
catkin_make_isolated --install --use-ninja
|
||||
|
||||
This builds Cartographer from the latest HEAD of the master branch.
|
||||
If you want a specific version, you need to change the version in the cartographer_ros.rosinstall.
|
||||
|
||||
.. _abseil-cpp: https://abseil.io/
|
||||
@@ -0,0 +1,275 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
# Copyright 2016 The Cartographer Authors
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
# Cartographer documentation build configuration file, created by
|
||||
# sphinx-quickstart on Fri Jul 8 10:41:33 2016.
|
||||
#
|
||||
# This file is execfile()d with the current directory set to its
|
||||
# containing dir.
|
||||
#
|
||||
# Note that not all possible configuration values are present in this
|
||||
# autogenerated file.
|
||||
#
|
||||
# All configuration values have a default; values that are commented out
|
||||
# serve to show the default.
|
||||
|
||||
import sys
|
||||
import os
|
||||
from datetime import datetime
|
||||
|
||||
# If extensions (or modules to document with autodoc) are in another directory,
|
||||
# add these directories to sys.path here. If the directory is relative to the
|
||||
# documentation root, use os.path.abspath to make it absolute, like shown here.
|
||||
#sys.path.insert(0, os.path.abspath('.'))
|
||||
|
||||
# -- General configuration ------------------------------------------------
|
||||
|
||||
# If your documentation needs a minimal Sphinx version, state it here.
|
||||
#needs_sphinx = '1.0'
|
||||
|
||||
# Add any Sphinx extension module names here, as strings. They can be
|
||||
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
|
||||
# ones.
|
||||
extensions = [
|
||||
'sphinx.ext.todo',
|
||||
'sphinx.ext.mathjax',
|
||||
'sphinx.ext.intersphinx',
|
||||
]
|
||||
|
||||
# Add any paths that contain templates here, relative to this directory.
|
||||
templates_path = ['_templates']
|
||||
|
||||
# The suffix of source filenames.
|
||||
source_suffix = '.rst'
|
||||
|
||||
# The encoding of source files.
|
||||
#source_encoding = 'utf-8-sig'
|
||||
|
||||
# The master toctree document.
|
||||
master_doc = 'index'
|
||||
|
||||
# General information about the project.
|
||||
project = u'Cartographer ROS'
|
||||
copyright = u'{year} The Cartographer Authors'.format(year=datetime.now().year)
|
||||
|
||||
# The version info for the project you're documenting, acts as replacement for
|
||||
# |version| and |release|, also used in various other places throughout the
|
||||
# built documents.
|
||||
#
|
||||
# The short X.Y version.
|
||||
#version = ''
|
||||
# The full version, including alpha/beta/rc tags.
|
||||
#release = ''
|
||||
|
||||
# The language for content autogenerated by Sphinx. Refer to documentation
|
||||
# for a list of supported languages.
|
||||
#language = None
|
||||
|
||||
# There are two options for replacing |today|: either, you set today to some
|
||||
# non-false value, then it is used:
|
||||
#today = ''
|
||||
# Else, today_fmt is used as the format for a strftime call.
|
||||
#today_fmt = '%B %d, %Y'
|
||||
|
||||
# List of patterns, relative to source directory, that match files and
|
||||
# directories to ignore when looking for source files.
|
||||
exclude_patterns = []
|
||||
|
||||
# The reST default role (used for this markup: `text`) to use for all
|
||||
# documents.
|
||||
#default_role = None
|
||||
|
||||
# If true, '()' will be appended to :func: etc. cross-reference text.
|
||||
#add_function_parentheses = True
|
||||
|
||||
# If true, the current module name will be prepended to all description
|
||||
# unit titles (such as .. function::).
|
||||
#add_module_names = True
|
||||
|
||||
# If true, sectionauthor and moduleauthor directives will be shown in the
|
||||
# output. They are ignored by default.
|
||||
show_authors = False
|
||||
|
||||
# The name of the Pygments (syntax highlighting) style to use.
|
||||
pygments_style = 'sphinx'
|
||||
|
||||
# A list of ignored prefixes for module index sorting.
|
||||
#modindex_common_prefix = []
|
||||
|
||||
# If true, keep warnings as "system message" paragraphs in the built documents.
|
||||
#keep_warnings = False
|
||||
|
||||
# -- Options for HTML output ----------------------------------------------
|
||||
|
||||
# The theme to use for HTML and HTML Help pages. See the documentation for
|
||||
# a list of builtin themes.
|
||||
html_theme = 'default'
|
||||
|
||||
# Theme options are theme-specific and customize the look and feel of a theme
|
||||
# further. For a list of options available for each theme, see the
|
||||
# documentation.
|
||||
#html_theme_options = {}
|
||||
|
||||
# Add any paths that contain custom themes here, relative to this directory.
|
||||
#html_theme_path = []
|
||||
|
||||
# The name for this set of Sphinx documents. If None, it defaults to
|
||||
# "<project> v<release> documentation".
|
||||
#html_title = None
|
||||
|
||||
# A shorter title for the navigation bar. Default is the same as html_title.
|
||||
#html_short_title = None
|
||||
|
||||
# The name of an image file (relative to this directory) to place at the top
|
||||
# of the sidebar.
|
||||
#html_logo = None
|
||||
|
||||
# The name of an image file (within the static path) to use as favicon of the
|
||||
# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
|
||||
# pixels large.
|
||||
#html_favicon = None
|
||||
|
||||
# Add any paths that contain custom static files (such as style sheets) here,
|
||||
# relative to this directory. They are copied after the builtin static files,
|
||||
# so a file named "default.css" will overwrite the builtin "default.css".
|
||||
html_static_path = []
|
||||
|
||||
# Add any extra paths that contain custom files (such as robots.txt or
|
||||
# .htaccess) here, relative to this directory. These files are copied
|
||||
# directly to the root of the documentation.
|
||||
#html_extra_path = []
|
||||
|
||||
# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
|
||||
# using the given strftime format.
|
||||
#html_last_updated_fmt = '%b %d, %Y'
|
||||
|
||||
# If true, SmartyPants will be used to convert quotes and dashes to
|
||||
# typographically correct entities.
|
||||
#html_use_smartypants = True
|
||||
|
||||
# Custom sidebar templates, maps document names to template names.
|
||||
#html_sidebars = {}
|
||||
|
||||
# Additional templates that should be rendered to pages, maps page names to
|
||||
# template names.
|
||||
#html_additional_pages = {}
|
||||
|
||||
# If false, no module index is generated.
|
||||
#html_domain_indices = True
|
||||
|
||||
# If false, no index is generated.
|
||||
#html_use_index = True
|
||||
|
||||
# If true, the index is split into individual pages for each letter.
|
||||
#html_split_index = False
|
||||
|
||||
# If true, links to the reST sources are added to the pages.
|
||||
#html_show_sourcelink = True
|
||||
|
||||
# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
|
||||
#html_show_sphinx = True
|
||||
|
||||
# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
|
||||
#html_show_copyright = True
|
||||
|
||||
# If true, an OpenSearch description file will be output, and all pages will
|
||||
# contain a <link> tag referring to it. The value of this option must be the
|
||||
# base URL from which the finished HTML is served.
|
||||
#html_use_opensearch = ''
|
||||
|
||||
# This is the file name suffix for HTML files (e.g. ".xhtml").
|
||||
#html_file_suffix = None
|
||||
|
||||
# Output file base name for HTML help builder.
|
||||
htmlhelp_basename = 'CartographerROSdoc'
|
||||
|
||||
# -- Options for LaTeX output ---------------------------------------------
|
||||
|
||||
latex_elements = {
|
||||
# The paper size ('letterpaper' or 'a4paper').
|
||||
#'papersize': 'letterpaper',
|
||||
|
||||
# The font size ('10pt', '11pt' or '12pt').
|
||||
#'pointsize': '10pt',
|
||||
|
||||
# Additional stuff for the LaTeX preamble.
|
||||
#'preamble': '',
|
||||
}
|
||||
|
||||
# Grouping the document tree into LaTeX files. List of tuples
|
||||
# (source start file, target name, title,
|
||||
# author, documentclass [howto, manual, or own class]).
|
||||
latex_documents = [('index', 'CartographerROS.tex',
|
||||
u'Cartographer ROS Documentation',
|
||||
u'The Cartographer Authors', 'manual'),]
|
||||
|
||||
# The name of an image file (relative to this directory) to place at the top of
|
||||
# the title page.
|
||||
#latex_logo = None
|
||||
|
||||
# For "manual" documents, if this is true, then toplevel headings are parts,
|
||||
# not chapters.
|
||||
#latex_use_parts = False
|
||||
|
||||
# If true, show page references after internal links.
|
||||
#latex_show_pagerefs = False
|
||||
|
||||
# If true, show URL addresses after external links.
|
||||
#latex_show_urls = False
|
||||
|
||||
# Documents to append as an appendix to all manuals.
|
||||
#latex_appendices = []
|
||||
|
||||
# If false, no module index is generated.
|
||||
#latex_domain_indices = True
|
||||
|
||||
# -- Options for manual page output ---------------------------------------
|
||||
|
||||
# One entry per manual page. List of tuples
|
||||
# (source start file, name, description, authors, manual section).
|
||||
man_pages = [('index', 'cartographer', u'Cartographer ROS Documentation',
|
||||
[u'The Cartographer Authors'], 1)]
|
||||
|
||||
# If true, show URL addresses after external links.
|
||||
#man_show_urls = False
|
||||
|
||||
# -- Options for Texinfo output -------------------------------------------
|
||||
|
||||
# Grouping the document tree into Texinfo files. List of tuples
|
||||
# (source start file, target name, title, author,
|
||||
# dir menu entry, description, category)
|
||||
texinfo_documents = [
|
||||
('index', 'CartographerROS', u'Cartographer ROS Documentation',
|
||||
u'The Cartographer Authors', 'Cartographer ROS',
|
||||
'Provides ROS integration for Cartographer.', 'Miscellaneous'),
|
||||
]
|
||||
|
||||
# Documents to append as an appendix to all manuals.
|
||||
#texinfo_appendices = []
|
||||
|
||||
# If false, no module index is generated.
|
||||
#texinfo_domain_indices = True
|
||||
|
||||
# How to display URL addresses: 'footnote', 'no', or 'inline'.
|
||||
#texinfo_show_urls = 'footnote'
|
||||
|
||||
# If true, do not generate a @detailmenu in the "Top" node's menu.
|
||||
#texinfo_no_detailmenu = False
|
||||
|
||||
intersphinx_mapping = {
|
||||
'cartographer': ('https://google-cartographer.readthedocs.io/en/latest/',
|
||||
None)
|
||||
}
|
||||
@@ -0,0 +1,142 @@
|
||||
.. Copyright 2016 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
=========================================
|
||||
Lua configuration reference documentation
|
||||
=========================================
|
||||
|
||||
Note that Cartographer's ROS integration uses `tf2`_, thus all frame IDs are
|
||||
expected to contain only a frame name (lower-case with underscores) and no
|
||||
prefix or slashes. See `REP 105`_ for commonly used coordinate frames.
|
||||
|
||||
Note that topic names are given as *base* names (see `ROS Names`_) in
|
||||
Cartographer's ROS integration. This means it is up to the user of the
|
||||
Cartographer node to remap, or put them into a namespace.
|
||||
|
||||
The following are Cartographer's ROS integration top-level options, all of which
|
||||
must be specified in the Lua configuration file:
|
||||
|
||||
map_frame
|
||||
The ROS frame ID to use for publishing submaps, the parent frame of poses,
|
||||
usually "map".
|
||||
|
||||
tracking_frame
|
||||
The ROS frame ID of the frame that is tracked by the SLAM algorithm. If an IMU
|
||||
is used, it should be at its position, although it might be rotated. A common
|
||||
choice is "imu_link".
|
||||
|
||||
published_frame
|
||||
The ROS frame ID to use as the child frame for publishing poses. For example
|
||||
"odom" if an "odom" frame is supplied by a different part of the system. In
|
||||
this case the pose of "odom" in the *map_frame* will be published. Otherwise,
|
||||
setting it to "base_link" is likely appropriate.
|
||||
|
||||
odom_frame
|
||||
Only used if *provide_odom_frame* is true. The frame between *published_frame*
|
||||
and *map_frame* to be used for publishing the (non-loop-closed) local SLAM
|
||||
result. Usually "odom".
|
||||
|
||||
provide_odom_frame
|
||||
If enabled, the local, non-loop-closed, continuous pose will be published as
|
||||
the *odom_frame* in the *map_frame*.
|
||||
|
||||
publish_frame_projected_to_2d
|
||||
If enabled, the published pose will be restricted to a pure 2D pose (no roll,
|
||||
pitch, or z-offset). This prevents potentially unwanted out-of-plane poses in
|
||||
2D mode that can occur due to the pose extrapolation step (e.g. if the pose
|
||||
shall be published as a 'base-footprint'-like frame)
|
||||
|
||||
use_odometry
|
||||
If enabled, subscribes to `nav_msgs/Odometry`_ on the topic "odom". Odometry
|
||||
must be provided in this case, and the information will be included in SLAM.
|
||||
|
||||
use_nav_sat
|
||||
If enabled, subscribes to `sensor_msgs/NavSatFix`_ on the topic "fix".
|
||||
Navigation data must be provided in this case, and the information will be
|
||||
included in the global SLAM.
|
||||
|
||||
use_landmarks
|
||||
If enabled, subscribes to `cartographer_ros_msgs/LandmarkList`_ on the topic
|
||||
"landmarks". Landmarks must be provided, as `cartographer_ros_msgs/LandmarkEntry`_ within `cartographer_ros_msgs/LandmarkList`_. If `cartographer_ros_msgs/LandmarkEntry`_ data is provided the information
|
||||
will be included in the SLAM accoding to the ID of the `cartographer_ros_msgs/LandmarkEntry`_. The `cartographer_ros_msgs/LandmarkList`_ should be provided at a sample rate comparable to the other sensors. The list can be empty but has to be provided because Cartographer strictly time orders sensor data in order to make the landmarks deterministic. However it is possible to set the trajectory builder option "collate_landmarks" to false and allow for a non-deterministic but also non-blocking approach.
|
||||
|
||||
num_laser_scans
|
||||
Number of laser scan topics to subscribe to. Subscribes to
|
||||
`sensor_msgs/LaserScan`_ on the "scan" topic for one laser scanner, or topics
|
||||
"scan_1", "scan_2", etc. for multiple laser scanners.
|
||||
|
||||
num_multi_echo_laser_scans
|
||||
Number of multi-echo laser scan topics to subscribe to. Subscribes to
|
||||
`sensor_msgs/MultiEchoLaserScan`_ on the "echoes" topic for one laser scanner,
|
||||
or topics "echoes_1", "echoes_2", etc. for multiple laser scanners.
|
||||
|
||||
num_subdivisions_per_laser_scan
|
||||
Number of point clouds to split each received (multi-echo) laser scan into.
|
||||
Subdividing a scan makes it possible to unwarp scans acquired while the
|
||||
scanners are moving. There is a corresponding trajectory builder option to
|
||||
accumulate the subdivided scans into a point cloud that will be used for scan
|
||||
matching.
|
||||
|
||||
num_point_clouds
|
||||
Number of point cloud topics to subscribe to. Subscribes to
|
||||
`sensor_msgs/PointCloud2`_ on the "points2" topic for one rangefinder, or
|
||||
topics "points2_1", "points2_2", etc. for multiple rangefinders.
|
||||
|
||||
lookup_transform_timeout_sec
|
||||
Timeout in seconds to use for looking up transforms using `tf2`_.
|
||||
|
||||
submap_publish_period_sec
|
||||
Interval in seconds at which to publish the submap poses, e.g. 0.3 seconds.
|
||||
|
||||
pose_publish_period_sec
|
||||
Interval in seconds at which to publish poses, e.g. 5e-3 for a frequency of
|
||||
200 Hz.
|
||||
|
||||
publish_to_tf
|
||||
Enable or disable providing of TF transforms.
|
||||
|
||||
publish_tracked_pose
|
||||
Enable publishing of tracked pose as a `geometry_msgs/PoseStamped`_ to topic "tracked_pose".
|
||||
|
||||
trajectory_publish_period_sec
|
||||
Interval in seconds at which to publish the trajectory markers, e.g. 30e-3
|
||||
for 30 milliseconds.
|
||||
|
||||
rangefinder_sampling_ratio
|
||||
Fixed ratio sampling for range finders messages.
|
||||
|
||||
odometry_sampling_ratio
|
||||
Fixed ratio sampling for odometry messages.
|
||||
|
||||
fixed_frame_sampling_ratio
|
||||
Fixed ratio sampling for fixed frame messages.
|
||||
|
||||
imu_sampling_ratio
|
||||
Fixed ratio sampling for IMU messages.
|
||||
|
||||
landmarks_sampling_ratio
|
||||
Fixed ratio sampling for landmarks messages.
|
||||
|
||||
.. _REP 105: http://www.ros.org/reps/rep-0105.html
|
||||
.. _ROS Names: http://wiki.ros.org/Names
|
||||
.. _geometry_msgs/PoseStamped: http://docs.ros.org/api/geometry_msgs/html/msg/PoseStamped.html
|
||||
.. _nav_msgs/OccupancyGrid: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html
|
||||
.. _nav_msgs/Odometry: http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
|
||||
.. _sensor_msgs/LaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html
|
||||
.. _sensor_msgs/MultiEchoLaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/MultiEchoLaserScan.html
|
||||
.. _sensor_msgs/PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
|
||||
.. _sensor_msgs/NavSatFix: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html
|
||||
.. _cartographer_ros_msgs/LandmarkList: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/LandmarkList.msg
|
||||
.. _cartographer_ros_msgs/LandmarkEntry: https://github.com/cartographer-project/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkEntry.msg
|
||||
.. _tf2: http://wiki.ros.org/tf2
|
||||
@@ -0,0 +1,337 @@
|
||||
.. Copyright 2016 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
===========
|
||||
Public Data
|
||||
===========
|
||||
|
||||
2D Cartographer Backpack – Deutsches Museum
|
||||
===========================================
|
||||
|
||||
This data was collected using a 2D LIDAR backpack at the
|
||||
`Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_.
|
||||
Each bag contains data from an IMU, data from a horizontal LIDAR intended for 2D
|
||||
SLAM, and data from an additional vertical (i.e. push broom) LIDAR.
|
||||
|
||||
License
|
||||
-------
|
||||
|
||||
Copyright 2016 The Cartographer Authors
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
Data
|
||||
----
|
||||
|
||||
=================================================================================================================================== ======== ====== ===== ============================
|
||||
`ROS Bag <http://wiki.ros.org/Bags>`_ Duration Size Floor Known Issues
|
||||
=================================================================================================================================== ======== ====== ===== ============================
|
||||
`b0-2014-07-11-10-58-16.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-11-10-58-16.bag>`_ 149 s 38 MB 1. OG
|
||||
`b0-2014-07-11-11-00-49.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-11-11-00-49.bag>`_ 513 s 135 MB 1. OG
|
||||
`b0-2014-07-21-12-42-53.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-21-12-42-53.bag>`_ 244 s 64 MB 1. OG
|
||||
`b0-2014-07-21-12-49-19.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-21-12-49-19.bag>`_ 344 s 93 MB EG 1 gap in vertical laser data
|
||||
`b0-2014-07-21-12-55-35.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-21-12-55-35.bag>`_ 892 s 237 MB EG
|
||||
`b0-2014-07-21-13-11-35.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-07-21-13-11-35.bag>`_ 615 s 162 MB EG
|
||||
`b0-2014-08-14-13-23-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-08-14-13-23-01.bag>`_ 768 s 204 MB 1. OG
|
||||
`b0-2014-08-14-13-36-48.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-08-14-13-36-48.bag>`_ 331 s 87 MB 1. OG
|
||||
`b0-2014-10-07-12-13-36.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-10-07-12-13-36.bag>`_ 470 s 125 MB 1. OG
|
||||
`b0-2014-10-07-12-34-42.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-10-07-12-34-42.bag>`_ 491 s 127 MB 1. OG
|
||||
`b0-2014-10-07-12-43-25.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-10-07-12-43-25.bag>`_ 288 s 77 MB 1. OG
|
||||
`b0-2014-10-07-12-50-07.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b0-2014-10-07-12-50-07.bag>`_ 815 s 215 MB 1. OG
|
||||
`b1-2014-09-25-10-11-12.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-09-25-10-11-12.bag>`_ 1829 s 480 MB EG
|
||||
`b1-2014-10-02-14-08-42.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-10-02-14-08-42.bag>`_ 930 s 245 MB 1. OG
|
||||
`b1-2014-10-02-14-33-25.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-10-02-14-33-25.bag>`_ 709 s 181 MB 1. OG
|
||||
`b1-2014-10-07-12-12-04.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-10-07-12-12-04.bag>`_ 737 s 194 MB 1. OG
|
||||
`b1-2014-10-07-12-34-51.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b1-2014-10-07-12-34-51.bag>`_ 766 s 198 MB 1. OG
|
||||
`b2-2014-11-24-14-20-50.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-11-24-14-20-50.bag>`_ 679 s 177 MB 1. OG
|
||||
`b2-2014-11-24-14-33-46.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-11-24-14-33-46.bag>`_ 1285 s 330 MB 1. OG
|
||||
`b2-2014-12-03-10-14-13.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-03-10-14-13.bag>`_ 1051 s 275 MB 1. OG
|
||||
`b2-2014-12-03-10-33-51.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-03-10-33-51.bag>`_ 356 s 89 MB 1. OG
|
||||
`b2-2014-12-03-10-40-04.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-03-10-40-04.bag>`_ 453 s 119 MB 1. OG
|
||||
`b2-2014-12-12-13-51-02.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-12-13-51-02.bag>`_ 1428 s 368 MB 1. OG
|
||||
`b2-2014-12-12-14-18-43.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-12-14-18-43.bag>`_ 1164 s 301 MB 1. OG
|
||||
`b2-2014-12-12-14-41-29.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-12-14-41-29.bag>`_ 168 s 46 MB 1. OG
|
||||
`b2-2014-12-12-14-48-22.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-12-14-48-22.bag>`_ 243 s 65 MB 1. OG
|
||||
`b2-2014-12-17-14-33-12.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-17-14-33-12.bag>`_ 1061 s 277 MB 1. OG
|
||||
`b2-2014-12-17-14-53-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-17-14-53-26.bag>`_ 246 s 62 MB 1. OG
|
||||
`b2-2014-12-17-14-58-13.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2014-12-17-14-58-13.bag>`_ 797 s 204 MB EG
|
||||
`b2-2015-02-16-12-26-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-02-16-12-26-11.bag>`_ 901 s 236 MB 1. OG
|
||||
`b2-2015-02-16-12-43-57.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-02-16-12-43-57.bag>`_ 1848 s 475 MB 1. OG
|
||||
`b2-2015-04-14-14-16-36.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-04-14-14-16-36.bag>`_ 1353 s 349 MB 1. OG
|
||||
`b2-2015-04-14-14-39-59.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-04-14-14-39-59.bag>`_ 670 s 172 MB 1. OG
|
||||
`b2-2015-04-28-13-01-40.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-04-28-13-01-40.bag>`_ 618 s 162 MB 1. OG
|
||||
`b2-2015-04-28-13-17-23.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-04-28-13-17-23.bag>`_ 2376 s 613 MB 1. OG
|
||||
`b2-2015-05-12-12-29-05.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-05-12-12-29-05.bag>`_ 942 s 240 MB 1. OG 2 gaps in laser data
|
||||
`b2-2015-05-12-12-46-34.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-05-12-12-46-34.bag>`_ 2281 s 577 MB 1. OG 14 gaps in laser data
|
||||
`b2-2015-05-26-13-15-25.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-05-26-13-15-25.bag>`_ 747 s 195 MB 1. OG
|
||||
`b2-2015-06-09-14-31-16.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-06-09-14-31-16.bag>`_ 1297 s 336 MB 1. OG
|
||||
`b2-2015-06-25-14-25-51.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-06-25-14-25-51.bag>`_ 1071 s 272 MB 1. OG
|
||||
`b2-2015-07-07-11-27-05.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-07-07-11-27-05.bag>`_ 1390 s 362 MB 1. OG
|
||||
`b2-2015-07-21-13-03-21.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-07-21-13-03-21.bag>`_ 894 s 239 MB 1. OG
|
||||
`b2-2015-08-04-13-39-24.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-08-04-13-39-24.bag>`_ 809 s 212 MB 1. OG
|
||||
`b2-2015-08-18-11-42-31.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-08-18-11-42-31.bag>`_ 588 s 155 MB UG
|
||||
`b2-2015-08-18-11-55-04.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-08-18-11-55-04.bag>`_ 504 s 130 MB UG
|
||||
`b2-2015-08-18-12-06-34.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-08-18-12-06-34.bag>`_ 1299 s 349 MB EG
|
||||
`b2-2015-09-01-11-55-40.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-09-01-11-55-40.bag>`_ 1037 s 274 MB UG
|
||||
`b2-2015-09-01-12-16-13.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-09-01-12-16-13.bag>`_ 918 s 252 MB EG
|
||||
`b2-2015-09-15-14-19-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-09-15-14-19-11.bag>`_ 859 s 225 MB 1. OG
|
||||
`b2-2015-11-24-14-12-27.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-11-24-14-12-27.bag>`_ 843 s 226 MB 1. OG
|
||||
`b2-2016-01-19-14-10-47.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-01-19-14-10-47.bag>`_ 310 s 81 MB 1. OG
|
||||
`b2-2016-02-02-14-01-56.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-02-02-14-01-56.bag>`_ 787 s 213 MB EG 1 gap in laser data
|
||||
`b2-2016-03-01-14-09-37.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-03-01-14-09-37.bag>`_ 948 s 255 MB EG
|
||||
`b2-2016-03-15-14-23-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-03-15-14-23-01.bag>`_ 810 s 215 MB EG
|
||||
`b2-2016-04-05-14-44-52.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag>`_ 360 s 94 MB 1. OG
|
||||
`b2-2016-04-27-12-31-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag>`_ 881 s 234 MB 1. OG
|
||||
=================================================================================================================================== ======== ====== ===== ============================
|
||||
|
||||
3D Cartographer Backpack – Deutsches Museum
|
||||
===========================================
|
||||
|
||||
This data was collected using a 3D LIDAR backpack at the
|
||||
`Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_.
|
||||
Each bag contains data from an IMU and from two Velodyne VLP-16 LIDARs,
|
||||
one mounted horizontally (i.e. spin axis up) and one vertically
|
||||
(i.e. push broom).
|
||||
|
||||
License
|
||||
-------
|
||||
|
||||
Copyright 2016 The Cartographer Authors
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
Data
|
||||
----
|
||||
|
||||
==================================================================================================================================================== ======== ====== ================================================
|
||||
`ROS Bag <http://wiki.ros.org/Bags>`_ Duration Size Known Issues
|
||||
==================================================================================================================================================== ======== ====== ================================================
|
||||
`b3-2015-12-10-12-41-07.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2015-12-10-12-41-07.bag>`_ 1466 s 7.3 GB 1 large gap in data, no intensities
|
||||
`b3-2015-12-10-13-10-17.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2015-12-10-13-10-17.bag>`_ 718 s 5.5 GB 1 gap in data, no intensities
|
||||
`b3-2015-12-10-13-31-28.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2015-12-10-13-31-28.bag>`_ 720 s 5.2 GB 2 large gaps in data, no intensities
|
||||
`b3-2015-12-10-13-55-20.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2015-12-10-13-55-20.bag>`_ 429 s 3.3 GB
|
||||
`b3-2015-12-14-15-13-53.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2015-12-14-15-13-53.bag>`_ 916 s 7.1 GB no intensities
|
||||
`b3-2016-01-19-13-26-24.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-01-19-13-26-24.bag>`_ 1098 s 8.1 GB no intensities
|
||||
`b3-2016-01-19-13-50-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-01-19-13-50-11.bag>`_ 318 s 2.5 GB no intensities
|
||||
`b3-2016-02-02-13-32-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-02-02-13-32-01.bag>`_ 47 s 366 MB no intensities
|
||||
`b3-2016-02-02-13-33-30.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-02-02-13-33-30.bag>`_ 1176 s 9.0 GB no intensities
|
||||
`b3-2016-02-09-13-17-39.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-02-09-13-17-39.bag>`_ 529 s 4.0 GB
|
||||
`b3-2016-02-09-13-31-50.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-02-09-13-31-50.bag>`_ 801 s 6.1 GB no intensities
|
||||
`b3-2016-02-10-08-08-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-02-10-08-08-26.bag>`_ 3371 s 25 GB
|
||||
`b3-2016-03-01-13-39-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-03-01-13-39-41.bag>`_ 382 s 2.9 GB
|
||||
`b3-2016-03-01-15-42-37.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-03-01-15-42-37.bag>`_ 3483 s 17 GB 6 large gaps in data, no intensities
|
||||
`b3-2016-03-01-16-42-00.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-03-01-16-42-00.bag>`_ 313 s 2.4 GB no intensities
|
||||
`b3-2016-03-02-10-09-32.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-03-02-10-09-32.bag>`_ 1150 s 6.6 GB 3 large gaps in data, no intensities
|
||||
`b3-2016-04-05-13-54-42.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag>`_ 829 s 6.1 GB no intensities
|
||||
`b3-2016-04-05-14-14-00.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag>`_ 1221 s 9.1 GB
|
||||
`b3-2016-04-05-15-51-36.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-15-51-36.bag>`_ 30 s 231 MB
|
||||
`b3-2016-04-05-15-52-20.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag>`_ 377 s 2.7 GB no intensities
|
||||
`b3-2016-04-05-16-00-55.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-16-00-55.bag>`_ 940 s 6.9 GB no intensities
|
||||
`b3-2016-04-27-12-25-00.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-27-12-25-00.bag>`_ 2793 s 23 GB
|
||||
`b3-2016-04-27-12-56-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-27-12-56-11.bag>`_ 2905 s 21 GB
|
||||
`b3-2016-05-10-12-56-33.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-05-10-12-56-33.bag>`_ 1767 s 13 GB
|
||||
`b3-2016-06-07-12-42-49.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-06-07-12-42-49.bag>`_ 596 s 3.9 GB 3 gaps in horizontal laser data, no intensities
|
||||
==================================================================================================================================================== ======== ====== ================================================
|
||||
|
||||
MiR
|
||||
===========================================
|
||||
|
||||
This data was collected using `MiR100 <http://www.mobile-industrial-robots.com/de/products/mir100/>`_.
|
||||
An additional Logitech Webcam C930e Full HD camera was attached on top to
|
||||
collect images for landmark detection.
|
||||
|
||||
License
|
||||
-------
|
||||
|
||||
Copyright 2018 The Cartographer Authors
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
Data
|
||||
----
|
||||
|
||||
==================================================================================================================================================== ======== =======
|
||||
`ROS Bag <http://wiki.ros.org/Bags>`_ Duration Size
|
||||
==================================================================================================================================================== ======== =======
|
||||
`landmarks_demo_uncalibrated.bag <https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag>`_ 180 s 41.7 MB
|
||||
==================================================================================================================================================== ======== =======
|
||||
|
||||
PR2 – Willow Garage
|
||||
===================
|
||||
|
||||
This is the Willow Garage data set, described in:
|
||||
|
||||
* "An Object-Based Semantic World Model for Long-Term Change Detection and
|
||||
Semantic Querying.", by Julian Mason and Bhaskara Marthi, IROS 2012.
|
||||
|
||||
More details about these data can be found in:
|
||||
|
||||
* "Unsupervised Discovery of Object Classes with a Mobile Robot", by Julian
|
||||
Mason, Bhaskara Marthi, and Ronald Parr. ICRA 2014.
|
||||
* "Object Discovery with a Mobile Robot" by Julian Mason. PhD Thesis, 2013.
|
||||
|
||||
License
|
||||
-------
|
||||
|
||||
Copyright (c) 2011, Willow Garage
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the <organization> nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
Data
|
||||
----
|
||||
|
||||
===================================================================================================================== =======================
|
||||
`ROS Bag <http://wiki.ros.org/Bags>`_ Known Issues
|
||||
===================================================================================================================== =======================
|
||||
`2011-08-03-16-16-43.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-03-16-16-43.bag>`_ Missing base laser data
|
||||
`2011-08-03-20-03-22.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-03-20-03-22.bag>`_
|
||||
`2011-08-04-12-16-23.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-04-12-16-23.bag>`_
|
||||
`2011-08-04-14-27-40.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-04-14-27-40.bag>`_
|
||||
`2011-08-04-23-46-28.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-04-23-46-28.bag>`_
|
||||
`2011-08-05-09-27-53.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-05-09-27-53.bag>`_
|
||||
`2011-08-05-12-58-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-05-12-58-41.bag>`_
|
||||
`2011-08-05-23-19-43.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-05-23-19-43.bag>`_
|
||||
`2011-08-08-09-48-17.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-08-09-48-17.bag>`_
|
||||
`2011-08-08-14-26-55.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-08-14-26-55.bag>`_
|
||||
`2011-08-08-23-29-37.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-08-23-29-37.bag>`_
|
||||
`2011-08-09-08-49-52.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-09-08-49-52.bag>`_
|
||||
`2011-08-09-14-32-35.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-09-14-32-35.bag>`_
|
||||
`2011-08-09-22-31-30.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-09-22-31-30.bag>`_
|
||||
`2011-08-10-09-36-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-10-09-36-26.bag>`_
|
||||
`2011-08-10-14-48-32.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-10-14-48-32.bag>`_
|
||||
`2011-08-11-01-31-15.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-11-01-31-15.bag>`_
|
||||
`2011-08-11-08-36-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-11-08-36-01.bag>`_
|
||||
`2011-08-11-14-27-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-11-14-27-41.bag>`_
|
||||
`2011-08-11-22-03-37.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-11-22-03-37.bag>`_
|
||||
`2011-08-12-09-06-48.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-12-09-06-48.bag>`_
|
||||
`2011-08-12-16-39-48.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-12-16-39-48.bag>`_
|
||||
`2011-08-12-22-46-34.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-12-22-46-34.bag>`_
|
||||
`2011-08-15-17-22-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-15-17-22-26.bag>`_
|
||||
`2011-08-15-21-26-26.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-15-21-26-26.bag>`_
|
||||
`2011-08-16-09-20-08.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-16-09-20-08.bag>`_
|
||||
`2011-08-16-18-40-52.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-16-18-40-52.bag>`_
|
||||
`2011-08-16-20-59-00.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-16-20-59-00.bag>`_
|
||||
`2011-08-17-15-51-51.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-17-15-51-51.bag>`_
|
||||
`2011-08-17-21-17-05.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-17-21-17-05.bag>`_
|
||||
`2011-08-18-20-33-16.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-18-20-33-16.bag>`_
|
||||
`2011-08-18-20-52-30.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-18-20-52-30.bag>`_
|
||||
`2011-08-19-10-12-20.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-19-10-12-20.bag>`_
|
||||
`2011-08-19-14-17-55.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-19-14-17-55.bag>`_
|
||||
`2011-08-19-21-35-17.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-19-21-35-17.bag>`_
|
||||
`2011-08-22-10-02-27.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-22-10-02-27.bag>`_
|
||||
`2011-08-22-14-53-33.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-22-14-53-33.bag>`_
|
||||
`2011-08-23-01-11-53.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-23-01-11-53.bag>`_
|
||||
`2011-08-23-09-21-17.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-23-09-21-17.bag>`_
|
||||
`2011-08-24-09-52-14.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-24-09-52-14.bag>`_
|
||||
`2011-08-24-15-01-39.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-24-15-01-39.bag>`_
|
||||
`2011-08-24-19-47-10.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-24-19-47-10.bag>`_
|
||||
`2011-08-25-09-31-05.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-25-09-31-05.bag>`_
|
||||
`2011-08-25-20-14-56.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-25-20-14-56.bag>`_
|
||||
`2011-08-25-20-38-39.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-25-20-38-39.bag>`_
|
||||
`2011-08-26-09-58-19.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-26-09-58-19.bag>`_
|
||||
`2011-08-29-15-48-07.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-29-15-48-07.bag>`_
|
||||
`2011-08-29-21-14-07.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-29-21-14-07.bag>`_
|
||||
`2011-08-30-08-55-28.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-30-08-55-28.bag>`_
|
||||
`2011-08-30-20-49-42.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-30-20-49-42.bag>`_
|
||||
`2011-08-30-21-17-56.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-30-21-17-56.bag>`_
|
||||
`2011-08-31-20-29-19.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-31-20-29-19.bag>`_
|
||||
`2011-08-31-20-44-19.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-08-31-20-44-19.bag>`_
|
||||
`2011-09-01-08-21-33.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-01-08-21-33.bag>`_
|
||||
`2011-09-02-09-20-25.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-02-09-20-25.bag>`_
|
||||
`2011-09-06-09-04-41.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-06-09-04-41.bag>`_
|
||||
`2011-09-06-13-20-36.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-06-13-20-36.bag>`_
|
||||
`2011-09-08-13-14-39.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-08-13-14-39.bag>`_
|
||||
`2011-09-09-13-22-57.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-09-13-22-57.bag>`_
|
||||
`2011-09-11-07-34-22.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-11-07-34-22.bag>`_
|
||||
`2011-09-11-09-43-46.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-11-09-43-46.bag>`_
|
||||
`2011-09-12-14-18-56.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-12-14-18-56.bag>`_
|
||||
`2011-09-12-14-47-01.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-12-14-47-01.bag>`_
|
||||
`2011-09-13-10-23-31.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-13-10-23-31.bag>`_
|
||||
`2011-09-13-13-44-21.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-13-13-44-21.bag>`_
|
||||
`2011-09-14-10-19-20.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-14-10-19-20.bag>`_
|
||||
`2011-09-15-08-32-46.bag <https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag>`_
|
||||
===================================================================================================================== =======================
|
||||
|
||||
Magazino
|
||||
========
|
||||
|
||||
Datasets recorded on `Magazino robots <https://www.magazino.eu/?lang=en>`_.
|
||||
|
||||
See the `cartographer_magazino <https://github.com/magazino/cartographer_magazino>`_
|
||||
repository for an integration of Magazino robot data for Cartographer.
|
||||
|
||||
See the ``LICENSE`` file in ``cartographer_magazino`` for details on the dataset
|
||||
license.
|
||||
|
||||
Data
|
||||
----
|
||||
|
||||
=================================================================================================================================== ======== ======== ============
|
||||
`ROS Bag <http://wiki.ros.org/Bags>`_ Duration Size Known Issues
|
||||
=================================================================================================================================== ======== ======== ============
|
||||
`hallway_return.bag <https://storage.googleapis.com/cartographer-public-data/bags/toru/hallway_return.bag>`_ 350 s 102.8 MB
|
||||
`hallway_localization.bag <https://storage.googleapis.com/cartographer-public-data/bags/toru/hallway_localization.bag>`_ 137 s 40.4 MB
|
||||
=================================================================================================================================== ======== ======== ============
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 1.2 MiB |
@@ -0,0 +1,126 @@
|
||||
.. Copyright 2016 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
======================================
|
||||
Running Cartographer ROS on a demo bag
|
||||
======================================
|
||||
|
||||
Now that Cartographer and Cartographer's ROS integration are installed, you can
|
||||
download example bags (e.g. 2D and 3D backpack collections of the
|
||||
`Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_) to a
|
||||
known location, in this case ``~/Downloads``, and use ``roslaunch`` to bring up
|
||||
the demo.
|
||||
|
||||
The launch files will bring up ``roscore`` and ``rviz`` automatically.
|
||||
|
||||
.. warning:: When you want to run cartographer_ros, you might need to source your ROS environment by running ``source install_isolated/setup.bash`` first (replace bash with zsh if your shell is zsh)
|
||||
|
||||
Deutsches Museum
|
||||
================
|
||||
|
||||
Download and launch the 2D backpack demo:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
|
||||
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
|
||||
|
||||
Download and launch the 3D backpack demo:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
|
||||
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
|
||||
|
||||
Pure localization
|
||||
=================
|
||||
|
||||
Pure localization uses 2 different bags. The first one is used to generate the map, the second to run pure localization.
|
||||
|
||||
Download the 2D bags from the Deutsche Museum:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag
|
||||
|
||||
Generate the map (wait until cartographer_offline_node finishes) and then run pure localization:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
|
||||
roslaunch cartographer_ros demo_backpack_2d_localization.launch \
|
||||
load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
|
||||
bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag
|
||||
|
||||
Download the 3D bags from the Deutsche Museum:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag
|
||||
|
||||
Generate the map (wait until cartographer_offline_node finishes) and then run pure localization:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag
|
||||
roslaunch cartographer_ros demo_backpack_3d_localization.launch \
|
||||
load_state_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream \
|
||||
bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag
|
||||
|
||||
Static landmarks
|
||||
================
|
||||
|
||||
.. raw:: html
|
||||
|
||||
<iframe width="560" height="315" src="https://www.youtube.com/embed/E2-OD-ycivc" frameborder="0" allowfullscreen></iframe>
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
# Download the landmarks example bag.
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag
|
||||
|
||||
# Launch the landmarks demo.
|
||||
roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filename:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag
|
||||
|
||||
Revo LDS
|
||||
========
|
||||
|
||||
Download and launch an example bag captured from a low-cost Revo Laser Distance Sensor from Neato Robotics vacuum cleaners:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
|
||||
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
|
||||
|
||||
PR2
|
||||
===
|
||||
|
||||
Download and launch an example bag captured from a PR2 R&D humanoid robot from Willow Garage:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
|
||||
roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
|
||||
|
||||
Taurob Tracker
|
||||
==============
|
||||
|
||||
Download and launch an example bag captured from a Taurob Tracker teleoperation robot:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
|
||||
roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag
|
||||
@@ -0,0 +1,66 @@
|
||||
.. Copyright 2016 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
==========================
|
||||
Frequently asked questions
|
||||
==========================
|
||||
|
||||
Why is laser data rate in the 3D bags higher than the maximum reported 20 Hz rotation speed of the VLP-16?
|
||||
----------------------------------------------------------------------------------------------------------
|
||||
|
||||
The VLP-16 in the example bags is configured to rotate at 20 Hz. However, the
|
||||
frequency of UDP packets the VLP-16 sends is much higher and independent of
|
||||
the rotation frequency. The example bags contain a `sensor_msgs/PointCloud2`__
|
||||
per UDP packet, not one per revolution.
|
||||
|
||||
__ http://www.ros.org/doc/api/sensor_msgs/html/msg/PointCloud2.html
|
||||
|
||||
In the `corresponding Cartographer configuration file`__ you see
|
||||
`TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160` which means we
|
||||
accumulate 160 per-UDP-packet point clouds into one larger point cloud, which
|
||||
incorporates motion estimation by combining constant velocity and IMU
|
||||
measurements, for matching. Since there are two VLP-16s, 160 UDP packets is
|
||||
enough for roughly 2 revolutions, one per VLP-16.
|
||||
|
||||
__ https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/configuration_files/backpack_3d.lua
|
||||
|
||||
Why is IMU data required for 3D SLAM but not for 2D?
|
||||
----------------------------------------------------
|
||||
|
||||
In 2D, Cartographer supports running the correlative scan matcher, which is normally used for finding loop closure constraints, for local SLAM.
|
||||
It is computationally expensive but can often render the incorporation of odometry or IMU data unnecessary.
|
||||
2D also has the benefit of assuming a flat world, i.e. up is implicitly defined.
|
||||
|
||||
In 3D, an IMU is required mainly for measuring gravity.
|
||||
Gravity is an attractive quantity to measure since it does not drift and is a very strong signal and typically comprises most of any measured accelerations.
|
||||
Gravity is needed for two reasons:
|
||||
|
||||
1. There are no assumptions about the world in 3D.
|
||||
To properly world align the resulting trajectory and map, gravity is used to define the z-direction.
|
||||
|
||||
2. Roll and pitch can be derived quite well from IMU readings once the direction of gravity has been established.
|
||||
This saves work for the scan matcher by reducing the search window in these dimensions.
|
||||
|
||||
How do I build cartographer_ros without rviz support?
|
||||
-----------------------------------------------------
|
||||
|
||||
The simplest solution is to create an empty file named `CATKIN_IGNORE`__ in the `cartographer_rviz` package directory.
|
||||
|
||||
__ http://wiki.ros.org/catkin/workspaces
|
||||
|
||||
How do I fix the "You called InitGoogleLogging() twice!" error?
|
||||
---------------------------------------------------------------
|
||||
|
||||
Building `rosconsole` with the `glog` back end can lead to this error.
|
||||
Use the `log4cxx` or `print` back end, selectable via the `ROSCONSOLE_BACKEND` CMake argument, to avoid this issue.
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 101 KiB |
@@ -0,0 +1,35 @@
|
||||
.. Copyright 2018 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
================
|
||||
Getting involved
|
||||
================
|
||||
|
||||
Cartographer is developed in the open and allows anyone to contribute to the project.
|
||||
There are multiple ways to get involved!
|
||||
|
||||
If you have question or think you've found an issue in Cartographer, you are welcome to open a `GitHub issue`_.
|
||||
|
||||
.. _GitHub issue: https://github.com/cartographer-project/cartographer/issues
|
||||
|
||||
If you have an idea of a significant change that should be documented and discussed before finding its way into Cartographer, you should submit it as a pull request to `the RFCs repository`_ first.
|
||||
Simpler changes can also be discussed in GitHub issues so that developers can help you get things right from the first try.
|
||||
|
||||
.. _the RFCs repository: https://github.com/cartographer-project/rfcs
|
||||
|
||||
If you want to contribute code or documentation, this is done through `GitHub pull requests`_.
|
||||
Pull requests need to follow the `contribution guidelines`_.
|
||||
|
||||
.. _GitHub pull requests: https://github.com/cartographer-project/cartographer/pulls
|
||||
.. _contribution guidelines: https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md
|
||||
@@ -0,0 +1,80 @@
|
||||
.. Copyright 2018 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
=============
|
||||
Going further
|
||||
=============
|
||||
|
||||
Cartographer is not only a great SLAM algorithm, it also comes with a fully-featured implementation that brings lots of "extra" features.
|
||||
This page lists some of those less known functionalities.
|
||||
|
||||
More input
|
||||
==========
|
||||
|
||||
If you have a source of odometry (such as a wheel encoder) publishing on a ``nav_msgs/Odometry`` topic and want to use it to improve Cartographer's localization, you can add an input to your ``.lua`` configuration files:
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
use_odometry = true
|
||||
|
||||
The messages will be expected on the ``odom`` topic.
|
||||
|
||||
A GPS publishing on a ``sensor_msgs/NavSatFix`` topic named ``fix`` can improve the global SLAM:
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
use_nav_sat = true
|
||||
|
||||
For landmarks publishing on a ``cartographer_ros_msgs/LandmarkList`` (`message defined in cartographer_ros`_) topic named ``landmark``:
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
use_landmarks = true
|
||||
|
||||
.. _message defined in cartographer_ros: https://github.com/cartographer-project/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkList.msg
|
||||
|
||||
Localization only
|
||||
=================
|
||||
|
||||
If you have a map you are happy with and want to reduce computations, you can use the localization-only mode of Cartographer which will run SLAM against the existing map and won't build a new one.
|
||||
This is enabled by running ``cartographer_node`` with a ``-load_state_filename`` argument and by defining the following line in your lua config:
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
TRAJECTORY_BUILDER.pure_localization_trimmer = {
|
||||
max_submaps_to_keep = 3,
|
||||
}
|
||||
|
||||
IMU Calibration
|
||||
===============
|
||||
|
||||
When performing the global optimization, Ceres tries to improve the pose between your IMU and range finding sensors.
|
||||
A well chosen acquisition with lots of loop closure constraints (for instance if your robot goes on a straight line and then back) can improve the quality of those corrections and become a reliable source of pose correction.
|
||||
You can then use Cartographer as part of your calibration process to improve the quality of your robot's extrinsic calibration.
|
||||
|
||||
Multi-trajectories SLAM
|
||||
=======================
|
||||
|
||||
Cartographer can perform SLAM from multiple robots emiting data in parallel.
|
||||
The global SLAM is able to detect shared paths and will merge the maps built by the different robots as soon as it becomes possible.
|
||||
This is achieved through the usage of two ROS services ``start_trajectory`` and ``finish_trajectory``. (refer to the ROS API reference documentation for more details on their usage)
|
||||
|
||||
Cloud integration with gRPC
|
||||
===========================
|
||||
|
||||
Cartographer is built around Protobuf messages which make it very flexible and interoperable.
|
||||
One of the advantages of that architecture is that it is easy to distribute on machines spread over the Internet.
|
||||
The typical use case would be a fleet of robots navigating on a known map, they could have their SLAM algorithm run on a remote powerful centralized localization server running a multi-trajectories Cartographer instance.
|
||||
|
||||
**TODO**: Instructions on how to get started with a gRPC Cartographer instance
|
||||
@@ -0,0 +1,42 @@
|
||||
.. Copyright 2016 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
============================
|
||||
Cartographer ROS Integration
|
||||
============================
|
||||
|
||||
`Cartographer`_ is a system that provides real-time simultaneous localization
|
||||
and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
|
||||
configurations. This project provides Cartographer's ROS integration.
|
||||
|
||||
.. image:: demo_2d.gif
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
compilation
|
||||
demos
|
||||
your_bag
|
||||
algo_walkthrough
|
||||
tuning
|
||||
assets_writer
|
||||
going_further
|
||||
getting_involved
|
||||
configuration
|
||||
ros_api
|
||||
data
|
||||
faq
|
||||
|
||||
.. _Cartographer: https://github.com/cartographer-project/cartographer
|
||||
.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
|
||||
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|
After Width: | Height: | Size: 85 KiB |
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|
After Width: | Height: | Size: 1.4 MiB |
@@ -0,0 +1,235 @@
|
||||
.. Copyright 2016 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
===============================
|
||||
ROS API reference documentation
|
||||
===============================
|
||||
|
||||
.. image:: nodes_graph_demo_2d.jpg
|
||||
|
||||
Cartographer Node
|
||||
=================
|
||||
|
||||
The `cartographer_node`_ is the SLAM node used for online, real-time SLAM.
|
||||
|
||||
.. _cartographer_node: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/node_main.cc
|
||||
|
||||
Command-line Flags
|
||||
------------------
|
||||
|
||||
Call the node with the ``--help`` flag to see all available options.
|
||||
|
||||
Subscribed Topics
|
||||
-----------------
|
||||
|
||||
The following range data topics are mutually exclusive. At least one source of
|
||||
range data is required.
|
||||
|
||||
scan (`sensor_msgs/LaserScan`_)
|
||||
Supported in 2D and 3D (e.g. using an axially rotating planar laser scanner).
|
||||
If *num_laser_scans* is set to 1 in the :doc:`configuration`, this topic will
|
||||
be used as input for SLAM. If *num_laser_scans* is greater than 1, multiple
|
||||
numbered scan topics (i.e. scan_1, scan_2, scan_3, ... up to and including
|
||||
*num_laser_scans*) will be used as inputs for SLAM.
|
||||
|
||||
echoes (`sensor_msgs/MultiEchoLaserScan`_)
|
||||
Supported in 2D and 3D (e.g. using an axially rotating planar laser scanner).
|
||||
If *num_multi_echo_laser_scans* is set to 1 in the :doc:`configuration`, this
|
||||
topic will be used as input for SLAM. Only the first echo is used. If
|
||||
*num_multi_echo_laser_scans* is greater than 1, multiple numbered echoes
|
||||
topics (i.e. echoes_1, echoes_2, echoes_3, ... up to and including
|
||||
*num_multi_echo_laser_scans*) will be used as inputs for SLAM.
|
||||
|
||||
points2 (`sensor_msgs/PointCloud2`_)
|
||||
If *num_point_clouds* is set to 1 in the :doc:`configuration`, this topic will
|
||||
be used as input for SLAM. If *num_point_clouds* is greater than 1, multiple
|
||||
numbered points2 topics (i.e. points2_1, points2_2, points2_3, ... up to and
|
||||
including *num_point_clouds*) will be used as inputs for SLAM.
|
||||
|
||||
The following additional sensor data topics may also be provided:
|
||||
|
||||
imu (`sensor_msgs/Imu`_)
|
||||
Supported in 2D (optional) and 3D (required). This topic will be used as
|
||||
input for SLAM.
|
||||
|
||||
odom (`nav_msgs/Odometry`_)
|
||||
Supported in 2D (optional) and 3D (optional). If *use_odometry* is
|
||||
enabled in the :doc:`configuration`, this topic will be used as input for
|
||||
SLAM.
|
||||
|
||||
.. TODO: add NavSatFix? Landmarks?
|
||||
|
||||
Published Topics
|
||||
----------------
|
||||
|
||||
scan_matched_points2 (`sensor_msgs/PointCloud2`_)
|
||||
Point cloud as it was used for the purpose of scan-to-submap matching. This
|
||||
cloud may be both filtered and projected depending on the
|
||||
:doc:`configuration`.
|
||||
|
||||
submap_list (`cartographer_ros_msgs/SubmapList`_)
|
||||
List of all submaps, including the pose and latest version number of each
|
||||
submap, across all trajectories.
|
||||
|
||||
tracked_pose (`geometry_msgs/PoseStamped`_)
|
||||
Only published if the parameter ``publish_tracked_pose`` is set to ``true``.
|
||||
The pose of the tracked frame with respect to the map frame.
|
||||
|
||||
Services
|
||||
--------
|
||||
|
||||
All services responses include also a ``StatusResponse`` that comprises a ``code`` and a ``message`` field.
|
||||
For consistency, the integer ``code`` is equivalent to the status codes used in the `gRPC`_ API.
|
||||
|
||||
.. _gRPC: https://developers.google.com/maps-booking/reference/grpc-api/status_codes
|
||||
|
||||
submap_query (`cartographer_ros_msgs/SubmapQuery`_)
|
||||
Fetches the requested submap.
|
||||
|
||||
start_trajectory (`cartographer_ros_msgs/StartTrajectory`_)
|
||||
Starts a trajectory using default sensor topics and the provided configuration.
|
||||
An initial pose can be optionally specified. Returns an assigned trajectory ID.
|
||||
|
||||
trajectory_query (`cartographer_ros_msgs/TrajectoryQuery`_)
|
||||
Returns the trajectory data from the pose graph.
|
||||
|
||||
finish_trajectory (`cartographer_ros_msgs/FinishTrajectory`_)
|
||||
Finishes the given `trajectory_id`'s trajectory by running a final optimization.
|
||||
|
||||
write_state (`cartographer_ros_msgs/WriteState`_)
|
||||
Writes the current internal state to disk into `filename`. The file will
|
||||
usually end up in `~/.ros` or `ROS_HOME` if it is set. This file can be used
|
||||
as input to the `assets_writer_main` to generate assets like probability
|
||||
grids, X-Rays or PLY files.
|
||||
|
||||
get_trajectory_states (`cartographer_ros_msgs/GetTrajectoryStates`_)
|
||||
Returns the IDs and the states of the trajectories.
|
||||
For example, this can be useful to observe the state of Cartographer from a separate node.
|
||||
|
||||
read_metrics (`cartographer_ros_msgs/ReadMetrics`_)
|
||||
Returns the latest values of all internal metrics of Cartographer.
|
||||
The collection of runtime metrics is optional and has to be activated with the ``--collect_metrics`` command line flag in the node.
|
||||
|
||||
Required tf Transforms
|
||||
----------------------
|
||||
|
||||
.. image:: frames_demo_2d.jpg
|
||||
|
||||
Transforms from all incoming sensor data frames to the :doc:`configured
|
||||
<configuration>` *tracking_frame* and *published_frame* must be available.
|
||||
Typically, these are published periodically by a `robot_state_publisher` or a
|
||||
`static_transform_publisher`.
|
||||
|
||||
Provided tf Transforms
|
||||
----------------------
|
||||
|
||||
The transformation between the :doc:`configured <configuration>` *map_frame*
|
||||
and *published_frame* is provided unless the parameter ``publish_to_tf`` is set to ``false``.
|
||||
|
||||
If *provide_odom_frame* is enabled in the :doc:`configuration`, additionally a continuous
|
||||
(i.e. unaffected by loop closure) transform between the :doc:`configured
|
||||
<configuration>` *odom_frame* and *published_frame* will be provided.
|
||||
|
||||
.. _robot_state_publisher: http://wiki.ros.org/robot_state_publisher
|
||||
.. _static_transform_publisher: http://wiki.ros.org/tf#static_transform_publisher
|
||||
.. _cartographer_ros_msgs/FinishTrajectory: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/FinishTrajectory.srv
|
||||
.. _cartographer_ros_msgs/SubmapList: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/SubmapList.msg
|
||||
.. _cartographer_ros_msgs/SubmapQuery: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/SubmapQuery.srv
|
||||
.. _cartographer_ros_msgs/StartTrajectory: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/StartTrajectory.srv
|
||||
.. _cartographer_ros_msgs/TrajectoryQuery: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/TrajectoryQuery.srv
|
||||
.. _cartographer_ros_msgs/WriteState: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/WriteState.srv
|
||||
.. _cartographer_ros_msgs/GetTrajectoryStates: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/GetTrajectoryStates.srv
|
||||
.. _cartographer_ros_msgs/ReadMetrics: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/ReadMetrics.srv
|
||||
.. _geometry_msgs/PoseStamped: http://docs.ros.org/api/geometry_msgs/html/msg/PoseStamped.html
|
||||
.. _nav_msgs/OccupancyGrid: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html
|
||||
.. _nav_msgs/Odometry: http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
|
||||
.. _sensor_msgs/Imu: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html
|
||||
.. _sensor_msgs/LaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html
|
||||
.. _sensor_msgs/MultiEchoLaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/MultiEchoLaserScan.html
|
||||
.. _sensor_msgs/PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
|
||||
|
||||
Offline Node
|
||||
============
|
||||
|
||||
The `offline_node`_ is the fastest way of SLAMing a bag of sensor data.
|
||||
It does not listen on any topics, instead it reads TF and sensor data out of a set of bags provided on the commandline.
|
||||
It also publishes a clock with the advancing sensor data, i.e. replaces ``rosbag play``.
|
||||
In all other regards, it behaves like the ``cartographer_node``.
|
||||
Each bag will become a separate trajectory in the final state.
|
||||
Once it is done processing all data, it writes out the final Cartographer state and exits.
|
||||
|
||||
.. _offline_node: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/offline_node_main.cc
|
||||
|
||||
|
||||
Published Topics
|
||||
----------------
|
||||
|
||||
In addition to the topics that are published by the online node, this node also publishes:
|
||||
|
||||
~bagfile_progress (`cartographer_ros_msgs/BagfileProgress`_)
|
||||
Bag files processing progress including detailed information about the bag currently being processed which will be published with a predefined
|
||||
interval that can be specified using ``~bagfile_progress_pub_interval`` ROS parameter.
|
||||
|
||||
.. _cartographer_ros_msgs/BagfileProgress: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/BagfileProgress.msg
|
||||
|
||||
Parameters
|
||||
----------
|
||||
|
||||
~bagfile_progress_pub_interval (double, default=10.0):
|
||||
The interval of publishing bag files processing progress in seconds.
|
||||
|
||||
|
||||
Occupancy grid Node
|
||||
===================
|
||||
|
||||
The `occupancy_grid_node`_ listens to the submaps published by SLAM, builds an ROS occupancy_grid out of them and publishes it.
|
||||
This tool is useful to keep old nodes that require a single monolithic map to work happy until new nav stacks can deal with Cartographer's submaps directly.
|
||||
Generating the map is expensive and slow, so map updates are in the order of seconds.
|
||||
You can can selectively include/exclude submaps from frozen (static) or active trajectories with a command line option.
|
||||
Call the node with the ``--help`` flag to see these options.
|
||||
|
||||
.. _occupancy_grid_node: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
|
||||
|
||||
Subscribed Topics
|
||||
-----------------
|
||||
|
||||
It subscribes to Cartographer's ``submap_list`` topic only.
|
||||
|
||||
Published Topics
|
||||
----------------
|
||||
|
||||
map (`nav_msgs/OccupancyGrid`_)
|
||||
If subscribed to, the node will continuously compute and publish the map. The
|
||||
time between updates will increase with the size of the map. For faster
|
||||
updates, use the submaps APIs.
|
||||
|
||||
|
||||
Pbstream Map Publisher Node
|
||||
===========================
|
||||
|
||||
The `pbstream_map_publisher`_ is a simple node that creates a static occupancy grid out of a serialized Cartographer state (pbstream format).
|
||||
It is an efficient alternative to the occupancy grid node if live updates are not important.
|
||||
|
||||
.. _pbstream_map_publisher: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
|
||||
|
||||
Subscribed Topics
|
||||
-----------------
|
||||
|
||||
None.
|
||||
|
||||
Published Topics
|
||||
----------------
|
||||
|
||||
map (`nav_msgs/OccupancyGrid`_)
|
||||
The published occupancy grid topic is latched.
|
||||
@@ -0,0 +1,209 @@
|
||||
.. Copyright 2018 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
.. cartographer SHA: aba4575d937df4c9697f61529200c084f2562584
|
||||
.. cartographer_ros SHA: 99c23b6ac7874f7974e9ed808ace841da6f2c8b0
|
||||
.. TODO(hrapp): mention insert_free_space somewhere
|
||||
|
||||
Tuning methodology
|
||||
==================
|
||||
|
||||
Tuning Cartographer is unfortunately really difficult.
|
||||
The system has many parameters many of which affect each other.
|
||||
This tuning guide tries to explain a principled approach on concrete examples.
|
||||
|
||||
Built-in tools
|
||||
--------------
|
||||
|
||||
Cartographer provides built-in tools for SLAM evaluation that can be particularly useful for measuring the local SLAM quality.
|
||||
They are stand-alone executables that ship with the core ``cartographer`` library and are hence independent, but compatible with ``cartographer_ros``.
|
||||
Therefore, please head to the `Cartographer Read the Docs Evaluation site`_ for a conceptual overview and a guide on how to use the tools in practice.
|
||||
|
||||
These tools assume that you have serialized the SLAM state to a ``.pbstream`` file.
|
||||
With ``cartographer_ros``, you can invoke the ``assets_writer`` to serialize the state - see the :ref:`assets_writer` section for more information.
|
||||
|
||||
.. _Cartographer Read the Docs Evaluation site: https://google-cartographer.readthedocs.io/en/latest/evaluation.html
|
||||
|
||||
Example: tuning local SLAM
|
||||
--------------------------
|
||||
|
||||
For this example we'll start at ``cartographer`` commit `aba4575`_ and ``cartographer_ros`` commit `99c23b6`_ and look at the bag ``b2-2016-04-27-12-31-41.bag`` from our test data set.
|
||||
|
||||
At our starting configuration, we see some slipping pretty early in the bag.
|
||||
The backpack passed over a ramp in the Deutsches Museum which violates the 2D assumption of a flat floor.
|
||||
It is visible in the laser scan data that contradicting information is passed to the SLAM.
|
||||
But the slipping also indicates that we trust the point cloud matching too much and disregard the other sensors quite strongly.
|
||||
Our aim is to improve the situation through tuning.
|
||||
|
||||
.. _aba4575: https://github.com/cartographer-project/cartographer/commit/aba4575d937df4c9697f61529200c084f2562584
|
||||
.. _99c23b6: https://github.com/cartographer-project/cartographer_ros/commit/99c23b6ac7874f7974e9ed808ace841da6f2c8b0
|
||||
|
||||
If we only look at this particular submap, that the error is fully contained in one submap.
|
||||
We also see that over time, global SLAM figures out that something weird happened and partially corrects for it.
|
||||
The broken submap is broken forever though.
|
||||
|
||||
.. TODO(hrapp): VIDEO
|
||||
|
||||
Since the problem here is slippage inside a submap, it is a local SLAM issue.
|
||||
So let's turn off global SLAM to not mess with our tuning.
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
POSE_GRAPH.optimize_every_n_nodes = 0
|
||||
|
||||
Correct size of submaps
|
||||
^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
The size of submaps is configured through ``TRAJECTORY_BUILDER_2D.submaps.num_range_data``.
|
||||
Looking at the individual submaps for this example they already fit the two constraints rather well, so we assume this parameter is well tuned.
|
||||
|
||||
Tuning the ``CeresScanMatcher``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
In our case, the scan matcher can freely move the match forward and backwards without impacting the score.
|
||||
We'd like to penalize this situation by making the scan matcher pay more for deviating from the prior that it got.
|
||||
The two parameters controlling this are ``TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight`` and ``rotation_weight``.
|
||||
The higher, the more expensive it is to move the result away from the prior, or in other words: scan matching has to generate a higher score in another position to be accepted.
|
||||
|
||||
For instructional purposes, let's make deviating from the prior really expensive:
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 1e3
|
||||
|
||||
.. TODO(hrapp): video
|
||||
|
||||
This allows the optimizer to pretty liberally overwrite the scan matcher results.
|
||||
This results in poses close to the prior, but inconsistent with the depth sensor and clearly broken.
|
||||
Experimenting with this value yields a better result at ``2e2``.
|
||||
|
||||
.. TODO(hrapp): VIDEO with translation_weight = 2e2
|
||||
|
||||
Here, the scan matcher used rotation to still slightly mess up the result though.
|
||||
Setting the ``rotation_weight`` to ``4e2`` leaves us with a reasonable result.
|
||||
|
||||
Verification
|
||||
^^^^^^^^^^^^
|
||||
|
||||
To make sure that we did not overtune for this particular issue, we need to run the configuration against other collected data.
|
||||
In this case, the new parameters did reveal slipping, for example at the beginning of ``b2-2016-04-05-14-44-52.bag``, so we had to lower the ``translation_weight`` to ``1e2``.
|
||||
This setting is worse for the case we wanted to fix, but no longer slips.
|
||||
Before checking them in, we normalize all weights, since they only have relative meaning.
|
||||
The result of this tuning was `PR 428`_.
|
||||
In general, always try to tune for a platform, not a particular bag.
|
||||
|
||||
.. _PR 428: https://github.com/cartographer-project/cartographer/pull/428
|
||||
|
||||
Special Cases
|
||||
-------------
|
||||
|
||||
The default configuration and the above tuning steps are focused on quality.
|
||||
Only after we have achieved good quality, we can further consider special cases.
|
||||
|
||||
Low Latency
|
||||
^^^^^^^^^^^
|
||||
|
||||
By low latency, we mean that an optimized local pose becomes available shortly after sensor input was received,
|
||||
usually within a second, and that global optimization has no backlog.
|
||||
Low latency is required for online algorithms, such as robot localization.
|
||||
Local SLAM, which operates in the foreground, directly affects latency.
|
||||
Global SLAM builds up a queue of background tasks.
|
||||
When global SLAM cannot keep up the queue, drift can accumulate indefinitely,
|
||||
so global SLAM should be tuned to work in real time.
|
||||
|
||||
There are many options to tune the different components for speed, and we list them ordered from
|
||||
the recommended, straightforward ones to the those that are more intrusive.
|
||||
It is recommended to only explore one option at a time, starting with the first.
|
||||
Configuration parameters are documented in the `Cartographer documentation`_.
|
||||
|
||||
.. _Cartographer documentation: https://google-cartographer.readthedocs.io/en/latest/configuration.html
|
||||
|
||||
To tune global SLAM for lower latency, we reduce its computational load
|
||||
until is consistently keeps up with real-time input.
|
||||
Below this threshold, we do not reduce it further, but try to achieve the best possible quality.
|
||||
To reduce global SLAM latency, we can
|
||||
|
||||
- decrease ``optimize_every_n_nodes``
|
||||
- increase ``MAP_BUILDER.num_background_threads`` up to the number of cores
|
||||
- decrease ``global_sampling_ratio``
|
||||
- decrease ``constraint_builder.sampling_ratio``
|
||||
- increase ``constraint_builder.min_score``
|
||||
- for the adaptive voxel filter(s), decrease ``.min_num_points``, ``.max_range``, increase ``.max_length``
|
||||
- increase ``voxel_filter_size``, ``submaps.resolution``, decrease ``submaps.num_range_data``
|
||||
- decrease search windows sizes, ``.linear_xy_search_window``, ``.linear_z_search_window``, ``.angular_search_window``
|
||||
- increase ``global_constraint_search_after_n_seconds``
|
||||
- decrease ``max_num_iterations``
|
||||
|
||||
To tune local SLAM for lower latency, we can
|
||||
|
||||
- increase ``voxel_filter_size``
|
||||
- increase ``submaps.resolution``
|
||||
- for the adaptive voxel filter(s), decrease ``.min_num_points``, ``.max_range``, increase ``.max_length``
|
||||
- decrease ``max_range`` (especially if data is noisy)
|
||||
- decrease ``submaps.num_range_data``
|
||||
|
||||
Note that larger voxels will slightly increase scan matching scores as a side effect,
|
||||
so score thresholds should be increased accordingly.
|
||||
|
||||
Pure Localization in a Given Map
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
Pure localization is different from mapping.
|
||||
First, we expect a lower latency of both local and global SLAM.
|
||||
Second, global SLAM will usually find a very large number of inter constraints between the frozen trajectory
|
||||
that serves as a map and the current trajectory.
|
||||
|
||||
To tune for pure localization, we should first enable ``TRAJECTORY_BUILDER.pure_localization = true`` and
|
||||
strongly decrease ``POSE_GRAPH.optimize_every_n_nodes`` to receive frequent results.
|
||||
With these settings, global SLAM will usually be too slow and cannot keep up.
|
||||
As a next step, we strongly decrease ``global_sampling_ratio`` and ``constraint_builder.sampling_ratio``
|
||||
to compensate for the large number of constraints.
|
||||
We then tune for lower latency as explained above until the system reliably works in real time.
|
||||
|
||||
If you run in ``pure_localization``, ``submaps.resolution`` **should be matching** with the resolution of the submaps in the ``.pbstream`` you are running on.
|
||||
Using different resolutions is currently untested and may not work as expected.
|
||||
|
||||
Odometry in Global Optimization
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
If a separate odometry source is used as an input for local SLAM (``use_odometry = true``), we can also tune the global SLAM to benefit from this additional information.
|
||||
|
||||
There are in total four parameters that allow us to tune the individual weights of local SLAM and odometry in the optimization:
|
||||
|
||||
.. code-block:: lua
|
||||
|
||||
POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight
|
||||
POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight
|
||||
POSE_GRAPH.optimization_problem.odometry_translation_weight
|
||||
POSE_GRAPH.optimization_problem.odometry_rotation_weight
|
||||
|
||||
We can set these weights depending on how much we trust either local SLAM or the odometry.
|
||||
By default, odometry is weighted into global optimization similar to local slam (scan matching) poses.
|
||||
However, odometry from wheel encoders often has a high uncertainty in rotation.
|
||||
In this case, the rotation weight can be reduced, even down to zero.
|
||||
|
||||
Still have a problem ?
|
||||
----------------------
|
||||
|
||||
If you can't get Cartographer to work reliably on your data, you can open a `GitHub issue`_ asking for help.
|
||||
Developers are keen to help, but they can only be helpful if you follow `an issue template`_ containing the result of ``rosbag_validate``, a link to a fork of ``cartographer_ros`` with your config and a link to a ``.bag`` file reproducing your problem.
|
||||
|
||||
.. note::
|
||||
|
||||
There are already lots of GitHub issues with all sorts of problems solved by the developers. Going through `the closed issues of cartographer_ros`_ and `of cartographer`_ is a great way to learn more about Cartographer and maybe find a solution to your problem !
|
||||
|
||||
.. _GitHub issue: https://github.com/cartographer-project/cartographer_ros/issues
|
||||
.. _an issue template: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question
|
||||
.. _the closed issues of cartographer_ros: https://github.com/cartographer-project/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
|
||||
.. _of cartographer: https://github.com/cartographer-project/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
|
||||
@@ -0,0 +1,142 @@
|
||||
.. Copyright 2018 The Cartographer Authors
|
||||
|
||||
.. Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
.. http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
.. Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
========================================
|
||||
Running Cartographer ROS on your own bag
|
||||
========================================
|
||||
|
||||
Now that you've run Cartographer ROS on a couple of provided bags, you can go ahead and make Cartographer work with your own data.
|
||||
Find a ``.bag`` recording you would like to use for SLAM and go through this tutorial.
|
||||
|
||||
.. warning:: When you want to run cartographer_ros, you might need to source your ROS environment by running ``source install_isolated/setup.bash`` first (replace bash with zsh if your shell is zsh)
|
||||
|
||||
Validate your bag
|
||||
=================
|
||||
|
||||
Cartographer ROS provides a tool named ``cartographer_rosbag_validate`` to automatically analyze data present in your bag.
|
||||
It is generally a good idea to run this tool before trying to tune Cartographer for incorrect data.
|
||||
|
||||
It benefits from the experience of the Cartographer authors and can detect a variety of mistakes commonly found in bags.
|
||||
For instance, if a ``sensor_msgs/Imu`` topic is detected, the tool will make sure that the gravity vector has not been removed from the IMU measurements because the gravity norm is used by Cartographer to determine the direction of the ground.
|
||||
|
||||
The tool can also provide tips on how to improve the quality of your data.
|
||||
For example, with a Velodyne LIDAR, it is recommended to have one ``sensor_msgs/PointCloud2`` message per UDP packet sent by the sensor instead of one message per revolution.
|
||||
With that granularity, Cartographer is then able to unwarp the point clouds deformation caused by the robot's motion and results in better reconstruction.
|
||||
|
||||
If you have sourced your Cartographer ROS environment, you can simply run the tool like this:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
cartographer_rosbag_validate -bag_filename your_bag.bag
|
||||
|
||||
Create a .lua configuration
|
||||
===========================
|
||||
|
||||
Cartographer is highly flexible and can be configured to work on a variety of robots.
|
||||
The robot configuration is read from a ``options`` data structure that must be defined from a Lua script.
|
||||
The example configurations are defined in ``src/cartographer_ros/cartographer_ros/configuration_files`` and installed in ``install_isolated/share/cartographer_ros/configuration_files/``.
|
||||
|
||||
.. note:: Ideally, a .lua configuration should be robot-specific and not bag-specific.
|
||||
|
||||
You can start by copying one of the example and then adapt it to your own need. If you want to use 3D SLAM:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
cp install_isolated/share/cartographer_ros/configuration_files/backpack_3d.lua install_isolated/share/cartographer_ros/configuration_files/my_robot.lua
|
||||
|
||||
If you want to use 2D SLAM:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
cp install_isolated/share/cartographer_ros/configuration_files/backpack_2d.lua install_isolated/share/cartographer_ros/configuration_files/my_robot.lua
|
||||
|
||||
You can then edit ``my_robot.lua`` to suit the needs of your robot.
|
||||
The values defined in the ``options`` block define how the Cartographer ROS frontend should interface with your bag.
|
||||
The values defined after the ``options`` paragraph are used to tune the inner-working of Cartographer, we will ignore these for now.
|
||||
|
||||
.. seealso:: The `reference documentation of the Cartographer ROS configuration values`_ and of `the Cartographer configuration values`_.
|
||||
|
||||
.. _reference documentation of the Cartographer ROS configuration values: https://google-cartographer-ros.readthedocs.io/en/latest/configuration.html
|
||||
|
||||
.. _the Cartographer configuration values: https://google-cartographer.readthedocs.io/en/latest/configuration.html
|
||||
|
||||
Among the values you need to adapt, you probably have to provide the TF frame IDs of your environment and robot in ``map_frame``, ``tracking_frame``, ``published_frame`` and ``odom_frame``.
|
||||
|
||||
.. note:: You can either distribute your robot's TF tree from a ``/tf`` topic in your bag or define it in a ``.urdf`` robot definition.
|
||||
|
||||
.. warning:: You should trust your poses! A small offset on the link between your robot and IMU or LIDAR can lead to incoherent map reconstructions. Cartographer can usually correct small pose errors but not everything!
|
||||
|
||||
The other values you need to define are related to the number and type of sensors you would like to use.
|
||||
|
||||
- ``num_laser_scans``: Number of ``sensor_msgs/LaserScan`` topics you'll use.
|
||||
- ``num_multi_echo_laser_scans``: Number of ``sensor_msgs/MultiEchoLaserScan`` topics you'll use.
|
||||
- ``num_point_clouds``: Number of ``sensor_msgs/PointCloud2`` topics you'll use.
|
||||
|
||||
You can also enable the usage of landmarks and GPS as additional sources of localization using ``use_landmarks`` and ``use_nav_sat``. The rest of the variables in the ``options`` block should typically be left untouched.
|
||||
|
||||
.. note:: even if you use a 2D SLAM, the landmarks are 3D objects and can mislead you if viewed only on the 2D plane due to their third dimension.
|
||||
|
||||
However, there is one global variable that you absolutely need to adapt to the needs of your bag: ``TRAJECTORY_BUILDER_3D.num_accumulated_range_data`` or ``TRAJECTORY_BUILDER_2D.num_accumulated_range_data``.
|
||||
This variable defines the number of messages required to construct a full scan (typically, a full revolution).
|
||||
If you follow ``cartographer_rosbag_validate``'s advices and use 100 ROS messages per scan, you can set this variable to 100.
|
||||
If you have two range finding sensors (for instance, two LIDARs) providing their full scans all at once, you should set this variable to 2.
|
||||
|
||||
Create .launch files for your SLAM scenarios
|
||||
============================================
|
||||
|
||||
You may have noticed that each demo introduced in the previous section was run with a different roslaunch command.
|
||||
The recommended usage of Cartographer is indeed to provide a custom ``.launch`` file per robot and type of SLAM.
|
||||
The example ``.launch`` files are defined in ``src/cartographer_ros/cartographer_ros/launch`` and installed in ``install_isolated/share/cartographer_ros/launch/``.
|
||||
|
||||
Start by copying one of the provided example:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
cp install_isolated/share/cartographer_ros/launch/backpack_3d.launch install_isolated/share/cartographer_ros/launch/my_robot.launch
|
||||
cp install_isolated/share/cartographer_ros/launch/demo_backpack_3d.launch install_isolated/share/cartographer_ros/launch/demo_my_robot.launch
|
||||
cp install_isolated/share/cartographer_ros/launch/offline_backpack_3d.launch install_isolated/share/cartographer_ros/launch/offline_my_robot.launch
|
||||
cp install_isolated/share/cartographer_ros/launch/demo_backpack_3d_localization.launch install_isolated/share/cartographer_ros/launch/demo_my_robot_localization.launch
|
||||
cp install_isolated/share/cartographer_ros/launch/assets_writer_backpack_3d.launch install_isolated/share/cartographer_ros/launch/assets_writer_my_robot.launch
|
||||
|
||||
- ``my_robot.launch`` is meant to be used on the robot to execute SLAM online (in real time) with real sensors data.
|
||||
- ``demo_my_robot.launch`` is meant to be used from a development machine and expects a ``bag_filename`` argument to replay data from a recording. This launch file also spawns a rviz window configured to visualize Cartographer's state.
|
||||
- ``offline_my_robot.launch`` is very similar to ``demo_my_robot.launch`` but tries to execute SLAM as fast as possible. This can make map building significantly faster. This launch file can also use multiple bag files provided to the ``bag_filenames`` argument.
|
||||
- ``demo_my_robot_localization.launch`` is very similar to ``demo_my_robot.launch`` but expects a ``load_state_filename`` argument pointing to a ``.pbstream`` recording of a previous Cartographer execution. The previous recording will be used as a pre-computed map and Cartographer will only perform localization on this map.
|
||||
- ``assets_writer_my_robot.launch`` is used to extract data out of a ``.pbstream`` recording of a previous Cartographer execution.
|
||||
|
||||
Again, a few adaptations need to be made to those files to suit your robot.
|
||||
|
||||
- Every parameter given to ``-configuration_basename`` should be adapted to point to ``my_robot.lua``.
|
||||
- If you decided to use a ``.urdf`` description of your robot, you should place your description in ``install_isolated/share/cartographer_ros/urdf`` and adapt the ``robot_description`` parameter to point to your file name.
|
||||
- If you decided to use ``/tf`` messages, you can remove the ``robot_description`` parameter, the ``robot_state_publisher`` node and the lines statring with ``-urdf``.
|
||||
- If the topic names published by your bag or sensors don't match the ones expected by Cartographer ROS, you can use ``<remap>`` elements to redirect your topics. The expected topic names depend on the type of range finding devices you use.
|
||||
|
||||
.. note::
|
||||
|
||||
- The IMU topic is expected to be named "imu"
|
||||
- If you use only one ``sensor_msgs/LaserScan`` topic, it is expected to be named ``scan``. If you have more, they should be named ``scan_1``, ``scan_2`` etc...
|
||||
- If you use only one ``sensor_msgs/MultiEchoLaserScan`` topic, it is expected to be named ``echoes``. If you have more, they should be named ``echoes_1``, ``echoes_2`` etc...
|
||||
- If you use only one ``sensor_msgs/PointCloud2`` topic, it is expected be named ``points2``. If you have more, they should be named ``points2_1``, ``points2_2``, etc...
|
||||
|
||||
Try your configuration
|
||||
======================
|
||||
|
||||
Everything is setup! You can now start Cartographer with:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
roslaunch cartographer_ros my_robot.launch bag_filename:=/path/to/your_bag.bag
|
||||
|
||||
If you are lucky enough, everything should already work as expected.
|
||||
However, you might have some problems that require tuning.
|
||||
Reference in New Issue
Block a user