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Pg slam toolbox #3

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0500933
slam_toolbox and start_mwpfl
pranavgo Jun 11, 2021
a1a0930
map corrections
pranavgo Jun 12, 2021
45c1e92
corrections
pranavgo Jun 16, 2021
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42 changes: 0 additions & 42 deletions config/carto_config/rosbot.lua
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45 changes: 0 additions & 45 deletions config/carto_config/rosbot_localization.lua
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9 changes: 9 additions & 0 deletions config/mwpfl_config/start_mwpfl.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
odom_frame_id: odom
base_frame_id: base_link
global_frame_id: map
update_min_distance: 0.01
update_min_angle: 0.02
odom_noise_rot_rot: 0.05
odom_noise_rot_trans: 0.05
odom_noise_trans_trans: 0.05
odom_noise_trans_rot: 0.05
8 changes: 1 addition & 7 deletions config/slam_toolbox_config/slam_toolbox_localization.yaml
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Expand Up @@ -9,20 +9,14 @@ ceres_loss_function: None
# ROS Parameters
odom_frame: odom
map_frame: map
base_frame: base_link
scan_topic: /scan
mode: localization #localization

# if you'd like to start localizing on bringup in a map and pose
map_file_name: rosbot
map_start_pose: [0, 0, 0.0]

debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02 #if 0 never publishes odometry
map_update_interval: 5.0
resolution: 0.05
max_laser_range: 3.5 #for rastering images
max_laser_range: 20 #for rastering images
minimum_time_interval: 0.5
transform_timeout: 0.2
tf_buffer_duration: 10.
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6 changes: 2 additions & 4 deletions config/slam_toolbox_config/slam_toolbox_mapping.yaml
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Expand Up @@ -9,19 +9,17 @@ ceres_loss_function: None
# ROS Parameters
odom_frame: odom
map_frame: map
base_frame: base_link
scan_topic: /scan
mode: mapping #localization

debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02 #if 0 never publishes odometry
map_update_interval: 5.0
resolution: 0.05
max_laser_range: 3.5 #for rastering images
max_laser_range: 20 #for rastering images
minimum_time_interval: 0.5
transform_timeout: 0.2
tf_buffer_duration: 10.
tf_buffer_duration: 30.
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps

# General Parameters
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22 changes: 9 additions & 13 deletions launch/run_mw_mapping.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,8 @@
<arg name="odom_frame" default="odom" />
<arg name="base_frame" default="base_link" />
<arg name="map_frame" default="map" />
<arg name="cartographer" default="false" />
<arg name="slam_toolbox" default="false" />
<arg name ="localization" default="false"/>

<node pkg="tf" type="static_transform_publisher" name="ROSbot2_laser" args="0 0 0 3.14 0 0 base_link laser 10" />

Expand All @@ -14,7 +15,7 @@
<include file="$(find rplidar_ros)/launch/rplidar.launch"/>

<!-- NAVIGATION -->
<group unless="$(arg cartographer)">
<group unless="$(arg slam_toolbox)">
<include file="$(find mowito_rosbot)/launch/secondary_launch/start_mw_mapping.launch">
<arg name="scan_topic" value="/scan" />
<arg name="laser_frame" value="laser" />
Expand All @@ -24,17 +25,12 @@
</include>
</group>

<group if="$(arg cartographer)">
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find mowito_rosbot)/config/carto_config
-configuration_basename rosbot.lua"
output="screen">
</node>

<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</group>
<group if="$(arg slam_toolbox)">
<include file="$(find mowito_rosbot)/launch/secondary_launch/start_slam_toolbox.launch">
<arg name="localization" value="$(arg localization)"/>
<arg name="base_frame" value="$(arg base_frame)"/>
<arg name="scan_topic" value="$(arg scan_topic)" />
</include>


</launch>
14 changes: 0 additions & 14 deletions launch/run_mw_mapping_slam_toolbox.launch
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28 changes: 15 additions & 13 deletions launch/run_mw_navigation.launch
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Expand Up @@ -2,15 +2,19 @@
<arg name="map_path" default="$(find mw_mapping)/maps/mowito_map.yaml"/>
<arg name="respawn" default="true"/>
<arg name="debug" default="false"/>
<arg name="cartographer" default="false" />
<arg name="carto_map" default="$(find mowito_rosbot)/samples/maps/carto_map.pbstream" />
<arg name="slam_toolbox" default="false" />
<arg name ="localization" default="true"/>
<arg name="scan_topic" default="/scan" />
<arg name="base_frame" default="base_link" />
<arg name="map_file_name" default="slam_map"/>
<arg name="map_start_pose" default="[0.0, 0.0, 0.0]"/>

<!-- actual rosbot sensors -->
<include file="$(find rosbot_ekf)/launch/all.launch"/>
<include file="$(find rplidar_ros)/launch/rplidar.launch"/>

<!-- localization node-->
<group unless="$(arg cartographer)">
<group unless="$(arg slam_toolbox)">
<include file="$(find mowito_rosbot)/launch/secondary_launch/start_mwpfl.launch">
<arg name="map_address" value="$(arg map_path)"/>
<arg name="robot_init_x" value="0"/>
Expand All @@ -20,16 +24,14 @@
</group>

<!-- with cartographer -->
<group if="$(arg cartographer)">
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find mowito_rosbot)/config/carto_config
-configuration_basename rosbot_localization.lua
-load_state_filename $(arg carto_map)"
output="screen">
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<group if="$(arg slam_toolbox)">
<include file="$(find mowito_rosbot)/launch/secondary_launch/start_slam_toolbox.launch">
<arg name="base_frame" default="$(arg base_frame)" />
<arg name="scan_topic" value="$(arg scan_topic)" />
<arg name="localization" value="$(arg localization)"/>
<arg name="map_file_name" value="$(arg map_file_name)"/>
<arg name="map_start_pose" default="$(arg map_start_pose)"/>
</include>
</group>


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27 changes: 0 additions & 27 deletions launch/run_mw_navigation_slam_toolbox.launch
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20 changes: 9 additions & 11 deletions launch/run_mw_navigation_with_no_map.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,8 @@
<arg name="odom_frame" default="odom" />
<arg name="base_frame" default="base_link" />
<arg name="map_frame" default="map" />
<arg name="cartographer" default="false" />
<arg name="slam_toolbox" default="false" />
<arg name ="localization" default="false"/>
<arg name="respawn" default="true"/>
<arg name="debug" default="false"/>

Expand All @@ -16,7 +17,7 @@
<include file="$(find rplidar_ros)/launch/rplidar.launch"/>

<!-- mapping node-->
<group unless="$(arg cartographer)">
<group unless="$(arg slam_toolbox)">
<include file="$(find mowito_rosbot)/launch/secondary_launch/start_mw_mapping.launch">
<arg name="scan_topic" value="/scan" />
<arg name="laser_frame" value="laser" />
Expand All @@ -26,15 +27,12 @@
</include>
</group>

<group if="$(arg cartographer)">
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find mowito_rosbot)/config/carto_config
-configuration_basename rosbot.lua"
output="screen">
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<group if="$(arg slam_toolbox)">
<include file="$(find mowito_rosbot)/launch/secondary_launch/start_slam_toolbox.launch">
<arg name="localization" value="$(arg localization)"/>
<arg name="base_frame" value="$(arg base_frame)"/>
<arg name="scan_topic" value="$(arg scan_topic)" />
</include>
</group>


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28 changes: 0 additions & 28 deletions launch/run_mw_navigation_with_no_map_slam_toolbox.launch
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22 changes: 1 addition & 21 deletions launch/secondary_launch/start_mwpfl.launch
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Expand Up @@ -21,30 +21,10 @@
<node pkg="mwpfl" type="mwpfl" name="mwpfl" output="screen">
<remap from="scan" to="$(arg scan_topic)" />
<remap from="initialpose" to="initialpose" />

<param name="initial_pose_x" value="$(arg robot_init_x)"/>
<param name="initial_pose_y" value="$(arg robot_init_y)"/>
<param name="initial_pose_a" value="$(arg robot_init_phi)"/>

<param name="odom_frame_id" value="odom"/>
<param name="base_frame_id" value="base_link"/>
<param name="global_frame_id" value="map"/>

<!-- min thresholds for updating the estimates-->
<!-- negative value will make it update at laser scan frequency -->
<!-- max distance to skip laser scans-->
<!-- <param name="update_min_distance" value="0.1"/> -->
<param name="update_min_distance" value="0.01"/>
<!-- max angle diff to skip laser scans-->
<!-- <param name="update_min_angle" value="0.2"/> -->
<param name="update_min_angle" value="0.02"/>
<!-- odometry model-->
<!--values of noise are smaller for diff-corrected than for diff model (which is 0.2) -->
<param name="odom_noise_rot_rot" value="0.05"/>
<param name="odom_noise_rot_trans" value="0.05"/>
<param name="odom_noise_trans_trans" value="0.05"/>
<param name="odom_noise_trans_rot" value="0.05"/>

<rosparam command="load" file="$(find mowito_rosbot)/config/mwpfl_config/start_mwpfl.yaml" />
</node>

</launch>
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