added map

configuration_files/cartographer.lua

@@ -0,0 +1,145 @@
+include "map_builder.lua"
+include "trajectory_builder.lua"
+
+POSE_GRAPH = {
+  optimize_every_n_nodes = 90,
+  constraint_builder = {
+    sampling_ratio = 0.3,
+    max_constraint_distance = 15.,
+    min_score = 0.55,
+    global_localization_min_score = 0.6,
+    loop_closure_translation_weight = 1.1e4,
+    loop_closure_rotation_weight = 1e5,
+    log_matches = true,
+    fast_correlative_scan_matcher = {
+      linear_search_window = 7.,
+      angular_search_window = math.rad(30.),
+      branch_and_bound_depth = 7,
+    },
+    ceres_scan_matcher = {
+      occupied_space_weight = 20.,
+      translation_weight = 10.,
+      rotation_weight = 1.,
+      ceres_solver_options = {
+        use_nonmonotonic_steps = true,
+        max_num_iterations = 10,
+        num_threads = 1,
+      },
+    },
+    fast_correlative_scan_matcher_3d = {
+      branch_and_bound_depth = 8,
+      full_resolution_depth = 3,
+      min_rotational_score = 0.77,
+      min_low_resolution_score = 0.55,
+      linear_xy_search_window = 5.,
+      linear_z_search_window = 1.,
+      angular_search_window = math.rad(15.),
+    },
+    ceres_scan_matcher_3d = {
+      occupied_space_weight_0 = 5.,
+      occupied_space_weight_1 = 30.,
+      translation_weight = 10.,
+      rotation_weight = 1.,
+      only_optimize_yaw = false,
+      ceres_solver_options = {
+        use_nonmonotonic_steps = false,
+        max_num_iterations = 10,
+        num_threads = 1,
+      },
+    },
+  },
+  matcher_translation_weight = 5e2,
+  matcher_rotation_weight = 1.6e3,
+  optimization_problem = {
+    huber_scale = 1e1,
+    acceleration_weight = 1e3,
+    rotation_weight = 3e5,
+    local_slam_pose_translation_weight = 1e5,
+    local_slam_pose_rotation_weight = 1e5,
+    odometry_translation_weight = 1e5,
+    odometry_rotation_weight = 1e5,
+    fixed_frame_pose_translation_weight = 1e1,
+    fixed_frame_pose_rotation_weight = 1e2,
+    log_solver_summary = false,
+    ceres_solver_options = {
+      use_nonmonotonic_steps = false,
+      max_num_iterations = 50,
+      num_threads = 7,
+    },
+  },
+  max_num_final_iterations = 200,
+  global_sampling_ratio = 0.003,
+  log_residual_histograms = true,
+  global_constraint_search_after_n_seconds = 10.,
+}
+
+options = {
+  map_builder = MAP_BUILDER,
+  trajectory_builder = TRAJECTORY_BUILDER,
+  map_frame = "map",
+  tracking_frame = "base_link",
+  published_frame = "odom",
+  odom_frame = "odom",
+  provide_odom_frame = false,
+  -- publish_frame_projected_to_2d = false,
+  use_odometry = true,
+  use_laser_scan = true,
+  use_multi_echo_laser_scan = false,
+  -- use_nav_sat = false,
+  -- use_landmarks = false,
+  -- num_laser_scans = 1,
+  -- num_multi_echo_laser_scans = 0,
+  -- num_subdivisions_per_laser_scan = 1,
+  num_point_clouds = 0,
+  lookup_transform_timeout_sec = 1.,
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+  trajectory_publish_period_sec = 30e-3,
+  -- rangefinder_sampling_ratio = 1.,
+  -- odometry_sampling_ratio = 0.5,
+  -- fixed_frame_pose_sampling_ratio = 0.5,
+  -- imu_sampling_ratio = 1.,
+  -- landmarks_sampling_ratio = 1.,
+}
+
+MAP_BUILDER.use_trajectory_builder_2d = true
+
+TRAJECTORY_BUILDER_2D.min_range = 0.3
+TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
+TRAJECTORY_BUILDER_2D.use_imu_data = false
+TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
+--TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
+--TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
+--TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 10.
+TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 2e2
+TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 4e2
+
+POSE_GRAPH.optimization_problem.huber_scale = 1e2
+-- SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
+
+-----------------TUNE THESE PARAMETERS FOR LOW LATENCY-------------------------------
+
+------------Global SLAM------------
+POSE_GRAPH.optimize_every_n_nodes = 1 -- Decrease
+MAP_BUILDER.num_background_threads = 4 -- Increase up to number of cores
+POSE_GRAPH.global_sampling_ratio = 0.00001 -- Decrease
+POSE_GRAPH.constraint_builder.sampling_ratio = 0.0001 -- Decrease
+POSE_GRAPH.constraint_builder.min_score = 0.75 -- Increase
+POSE_GRAPH.global_constraint_search_after_n_seconds = 30 -- Increase
+TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 5 -- Decrease
+
+---------Global/Local SLAM---------
+TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.min_num_points = 100 -- Decrease
+TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.max_range = 10. -- Decrease
+TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.max_length = 1.0 -- Increase
+-- TRAJECTORY_BUILDER_2D.loop_closure_adaptive_voxel_filter.min_num_points = 50 -- Decrease
+-- TRAJECTORY_BUILDER_2D.loop_closure_adaptive_voxel_filter.max_range = 10. -- Decrease
+-- TRAJECTORY_BUILDER_2D.loop_closure_adaptive_voxel_filter.max_length = 1.8 -- Increase
+TRAJECTORY_BUILDER_2D.voxel_filter_size = 0.05 -- Increase
+TRAJECTORY_BUILDER_2D.submaps.resolution=0.05 -- Increase
+TRAJECTORY_BUILDER_2D.submaps.num_range_data = 100 -- Decrease
+TRAJECTORY_BUILDER_2D.max_range = 10. -- Decrease
+
+-------------------------------------------------------------------------------------
+
+return options

launch/cartographer_mapping.launch

@@ -15,6 +15,8 @@
 <!-- Debugging parameters -->
   <arg name="rviz_flag" default="true" />
   <arg name="joint_state_publisher_flag" default="true" />
+  <arg name="cartographer_enable" default="true"/>
+
 
 
   <param name="base_link" value="base_link"/>
@@ -35,13 +37,13 @@
 
   <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">
+        -configuration_directory $(find cartographer_gmapping_hectorslam)/configuration_files
+        -configuration_basename cartographer.lua"
+    output="screen" if="$(arg cartographer_enable)">
   </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)"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find cartographer_gmapping_hectorslam)/rviz/visualize.rviz" if="$(arg rviz_flag)"/>
 
 </launch>

launch/gmapping_mapping.launch

@@ -72,6 +72,6 @@
 
 
   <!-- 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)"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find cartographer_gmapping_hectorslam)/rviz/visualize.rviz" if="$(arg rviz_flag)"/>
 
 </launch>

map/mapping_scene_map.yaml

@@ -0,0 +1,7 @@
+image: mapping_scene_map.pgm
+resolution: 0.050000
+origin: [-2.849245, -2.339799, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

map/result.yaml

@@ -0,0 +1,7 @@
+image: result.pgm
+resolution: 0.050000
+origin: [-2.882053, -2.334484, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+