added mapping

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(cartographer_gmapping_hectorslam)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+  tf
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs#   nav_msgs#   sensor_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES cartographer_gmapping_hectorslam
+#  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy sensor_msgs std_msgs tf
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/cartographer_gmapping_hectorslam.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/cartographer_gmapping_hectorslam_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_cartographer_gmapping_hectorslam.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

launch/cartographer_mapping.launch

@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<launch>
+
+  <param name ="/use_sim_time" value="false"/> <!-- unlike gazebo vrep do not publish clock..hence set it as false -->
+
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find pocker_bot_vrep_description)/urdf/pocker_bot.xacro'" />
+
+<!-- Robot configuration -->
+  <arg name="wheelbase_m" default="0.206" />
+  <arg name="wheel_diameter" default="0.087014"/>
+
+  <param name="wheelbase_m" value="$(arg wheelbase_m)"/>
+  <param name="wheel_diameter" value="$(arg wheel_diameter)"/>
+
+<!-- Debugging parameters -->
+  <arg name="rviz_flag" default="true" />
+  <arg name="joint_state_publisher_flag" default="true" />
+
+
+  <param name="base_link" value="base_link"/>
+  <param name="odom_frame" value="odom"/>
+  <param name="laser_frame" value="laser_sensor"/>
+  <param name="base_link" value="base_link"/>
+
+  <!-- send fake joint values -->
+ <!--  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="True"/>
+  </node> -->
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+
+  <node pkg="pocker_bot_vrep_description" type="joint_state_publisher" name="joint_state_publisher" if="$(arg joint_state_publisher_flag)"/>
+
+
+  <node name="cartographer_node" pkg="cartographer_ros"
+    type="cartographer_node" args="
+        -configuration_directory $(find pocker_bot_vrep_description)/configuration_files
+        -configuration_basename new_pocker_cartographer.lua"
+    output="screen">
+  </node>
+
+
+  <!-- Show in Rviz   -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find pocker_bot_vrep_description)/rviz/urdf_check.rviz" if="$(arg rviz_flag)"/>
+
+</launch>

launch/gmapping_mapping.launch

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+<?xml version="1.0"?>
+<launch>
+
+  <param name ="/use_sim_time" value="false"/> <!-- unlike gazebo vrep do not publish clock..hence set it as false -->
+
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find pocker_bot_vrep_description)/urdf/pocker_bot.xacro'" />
+
+  <param name="base_link" value="base_link"/>
+  <param name="odom_frame" value="odom"/>
+  <param name="laser_frame" value="laser_sensor"/>
+  <param name="base_link" value="base_link"/>
+
+<!-- Robot configuration -->
+  <arg name="wheelbase_m" default="0.206" />
+  <arg name="wheel_diameter" default="0.087014"/>
+
+  <param name="wheelbase_m" value="$(arg wheelbase_m)"/>
+  <param name="wheel_diameter" value="$(arg wheel_diameter)"/>
+
+<!-- Debugging parameters -->
+  <arg name="rviz_flag" default="true" />
+  <arg name="joint_state_publisher_flag" default="true" />
+
+  <!-- Argument for scan -->
+  <arg name = "scan_angle_deg" default="180" />
+  <param name="scan_angle_deg" type="double" value="$(arg scan_angle_deg)" />
+
+
+
+
+  <!-- send fake joint values -->
+ <!--  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="True"/>
+  </node> -->
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+
+  <node pkg="pocker_bot_vrep_description" type="joint_state_publisher" name="joint_state_publisher" if="$(arg joint_state_publisher_flag)"/>
+
+ <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
+      <remap from="scan" to="scan"/>
+      <param name="map_update_interval" value="5.0"/>
+      <param name="maxUrange" value="10"/>
+      <param name="sigma" value="0.05"/>
+      <param name="kernelSize" value="1"/>
+      <param name="lstep" value="0.05"/>
+      <param name="astep" value="0.05"/>
+      <param name="iterations" value="5"/>
+      <param name="lsigma" value="0.075"/>
+      <param name="ogain" value="3.0"/>
+      <param name="lskip" value="0"/>
+      <param name="srr" value="0.1"/>
+      <param name="srt" value="0.2"/>
+      <param name="str" value="0.1"/>
+      <param name="stt" value="0.2"/>
+      <param name="linearUpdate" value="1.0"/>
+      <param name="angularUpdate" value="0.5"/>
+      <param name="temporalUpdate" value="3.0"/>
+      <param name="resampleThreshold" value="0.5"/>
+      <param name="particles" value="30"/>
+      <param name="xmin" value="-6.0"/>
+      <param name="ymin" value="-6.0"/>
+      <param name="xmax" value="6.0"/>
+      <param name="ymax" value="6.0"/>
+      <param name="delta" value="0.05"/>
+      <param name="llsamplerange" value="0.01"/>
+      <param name="llsamplestep" value="0.01"/>
+      <param name="lasamplerange" value="0.005"/>
+      <param name="lasamplestep" value="0.005"/>
+    </node>
+
+
+  <!-- Show in Rviz   -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find pocker_bot_vrep_description)/rviz/urdf_check.rviz" if="$(arg rviz_flag)"/>
+
+</launch>

map/success_run.yaml

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+image: success_run.pgm
+resolution: 0.050000
+origin: [-2.886385, -2.290863, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

map/success_run2.yaml

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+image: success_run2.pgm
+resolution: 0.050000
+origin: [-2.881786, -2.307380, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

map/test1_cartopgrapher.yaml

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+image: test1_cartopgrapher.pgm
+resolution: 0.050000
+origin: [-1.855882, -2.901202, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

map/test2_scene.yaml

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+image: test2_scene.pgm
+resolution: 0.050000
+origin: [-6.000000, -6.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

map/test3_scene_carto.yaml

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+image: test3_scene_carto.pgm
+resolution: 0.050000
+origin: [-2.831474, -2.213137, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

map/test_scene.yaml

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+image: test_scene.pgm
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+