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mrpt_graphslam_2d package from mrpt_slam repo

mrpt_ekf_slam_2d mrpt_ekf_slam_3d mrpt_graphslam_2d mrpt_icp_slam_2d mrpt_rbpf_slam mrpt_slam

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.9
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_slam.git
VCS Type git
VCS Version master
Last Updated 2019-04-13
Dev Status MAINTAINED
Released RELEASED

Package Description

Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.

Additional Links

Maintainers

  • Nikos Koukis

Authors

  • Nikos Koukis
mrpt_graphslam_2d/README.md

General Information

GitPitch

Algorithm utilizes the MRPT mrpt-graphslam library to execute single, multi-robot graphSLAM using information from odometry and LaserScan ROS topics.

mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine application. Furthermore the command-line arguments offered by the latter can be provided by the user as parameters in the ROS Parameter Server. See the provided roslaunch files for examples of this. Also see the API of mrpt_graphslam_2d available here

Additional information:

Single robot algorithm

Real-Time experiment - short loop

  • A sample rosbag is included in the rosbags/demo_short_loop directory. To run this just launch the sr_graphslam_demo.launch file:

    roslaunch mrpt_graphslam_2d sr_graphslam_demo.launch start_rviz:=True

  • Demo rosbag contains Laser Scan measurements (and odometry which is not usuable in the algorithm due to the topic type)

Real-Time experiment - ground-truth data included

  • A real-time experiment using a KUKA youbot and having a rough ground-truth estimate path is available here. Ground-Truth estimation is provided using 2 ps3 cameras placed on the room ceiling. The cameras using the ar_sys ROS package are tracking Aruco markers that act as the workspace origin (static marker) and as the robot executing SLAM (moving marker) respectively. To run this demo, simply download the entire folder, place it directly under the rosbags directory of the mrpt_graphslam_2d package and run the sr_graphslam_demo_gt.launch file.

    roslaunch mrpt_graphslam_2d sr_graphslam_demo_gt.launch

  • One can also tinker with the aforementioned launchfile to enable/disable the different visualization features, use another decider/optimizer class, or modify the .ini file to change the algorithm behavior.

  • Robot movement starts after ~60''. Due to different timestamps in the laserscans, odometry topics the algorithm feedback is lagging a bit compared to the ground-truth visualization

  • sr_graphslam_demo_gt file uses the pass_all_args XML directive which is only available starting from the ROS Jade distribution. If you have an older one, just replace this with all the args in that file exclusively. For an example on how to do this, see the sr_graphslam_demo.launch file

  • Rosbag was recorded in the Mechanical Engineering School of the National Technical University of Athens

Multi-robot algorithm

Multi-robot support is provided via the csl_mr_slam package suite as well as the use of multimaster_fkie packages utilized for communication across the various ROS agents.

Multi-robot real-time experiments - rosbag

A rosbag collected from real-robots can be found in the following link (more rosbags to be added in the MRPT-2.0 branch):

To run a demo using one of the corresponding rosbags download that directory, place it directly under the rosbags directory of the mrpt_graphslam_2d package and run the run_mr_graphslam_demo.sh script of the csl_robots_gazebo package. The latter script (as is standard with the nodes of the csl_robots_gazebo package reads its configuration parameters off the shell environment at hand and adjusts its behavior accordingly. As an examaple users can use the following command for running a multi-robot demo.

# see the script for configuration variables
rosrun csl_robots_gazebo run_mr_graphslam_demo.sh

Warning

  • For this to work, you need to have the csl_mr_slam package suite (as well as the packages that the latter depends on) in your catkin workspace.

  • When executing multi-robot graphSLAM using either Gazebo (via the csl_robots_gazebo package or using measurements from the prerecorded rosbags, you have to, a priori, generate the necessary rviz files from the template files found in $(rospack find mrpt_graphslam_2d)/rviz/templates. To do that you have to run the $(rospack find mrpt_graphslam_2d)/nodes/rename_rviz_topics.py script which changes the necessary topic names based on the running computer's hostname. See documentation of the latter script for more on its usage.

Multi-robot simulations in Gazebo - csl_mr_slam

Multi-robot simulations are supported in the Gazebo Simulator via the csl_hw_setup ROS package. An example of running such a simulation is given below.

A complete example of executing multi-robot graphSLAM in the Gazebo simulation environment is presented in the following video:

Multi-robot simulations

Real-time multi-robot experiments

As with its single-robot variant, support for running the algorithm in a real-time multi-robot setup is provided via the csl_mr_slam/csl_hw_setup package.

An example of executing real-time multi-robot graphSLAM is given here.

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/setup_robot_for_mr_demo.launch
    • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Setup an individual agent that is to run multi-robot graphSLAM Users typically don't need to run this directly and are advised to use the csl_robots_gazebo/run_graphslam_demo.sh shell script which executes this launchfile as many times as the number of robots used for the demo
      • new_robot_ns
      • verbosity [default: 1]
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans_LC_MR_real.ini]
      • NRD [default: CFixedIntervalsNRD_MR]
      • ERD [default: CLoopCloserERD_MR]
      • GSO [default: CLevMarqGSO]
  • launch/sr_graphslam_demo_gt.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile demonstrating the mrpt_graphslam_2d application. Ground-Truth path is also shown to compare with the algorithm trajectory estimation. Practically this constitutes a wrapper around the sr_graphslam_demo.launch file NOTES: - Do not define arguments not present in the sr_graphslam_demo due to the corresponding bug: https://github.com/ros/ros_comm/issues/889 WARNING: Make sure that you have downloaded the corresponding dataset from here: https://www.dropbox.com/sh/habf5mnc5404i66/AACvbzmAQ6UrYB4ix-6aVIc9a?dl=0. See the README.md file for more information on this
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/sr_graphslam_demo]
      • bag_file [default: records_with_gt.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • start_rviz [default: true]
  • launch/graphslam.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile responsible for the mrpt_graphslam_2d application in a single agent setup. Refer to the README.md file for usage information
      • output [default: screen]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans.ini]
      • do_publish_gridmap_topic [default: true]
      • run_under_gdb [default: false]
      • anchor_frame_ID [default: map]
      • base_link_frame_ID [default: base_link]
      • odometry_frame_ID [default: odometry]
      • NRD [default: CFixedIntervalsNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
      • is_mr_slam [default: false]
      • start_rviz [default: false]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • disable_MRPT_visuals [default: false]
      • verbosity [default: 1]
  • launch/sr_graphslam_demo.launch
    • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Launchfile for a simple demonstration of the mrpt_graphslam_2d algorithm in single robot situations. More elaborate demo files are built on top of this one such as the sr_graphslam_demo_gt.launch file
      • output [default: screen]
      • robot_ns [default: /]
      • disable_MRPT_visuals [default: false]
      • verbosity [default: 0]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/demo_short_loop]
      • bag_file [default: demo.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • bag_topic_remaps [default: /scan:=input/laser_scan]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_laser_odometry.ini]
      • start_rviz [default: true]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • anchor_frame_ID [default: map]
      • base_link_frame_ID [default: base_link]
      • laser_frame_ID [default: laser]
      • odometry_frame_ID [default: odometry]
      • NRD [default: CICPCriteriaNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
      • is_mr_slam [default: false]
      • play_own_rosbag [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_graphslam_2d at answers.ros.org

mrpt_graphslam_2d package from mrpt_slam repo

mrpt_ekf_slam_2d mrpt_ekf_slam_3d mrpt_graphslam_2d mrpt_icp_slam_2d mrpt_rbpf_slam mrpt_slam

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_slam.git
VCS Type git
VCS Version compat-mrpt-1.3
Last Updated 2017-04-27
Dev Status MAINTAINED
Released UNRELEASED

Package Description

Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.

Additional Links

Maintainers

  • Nikos Koukis

Authors

  • Nikos Koukis
mrpt_graphslam_2d/README.md

Description

Algorithm utilizes the MRPT mrpt-graphslam library to execute single-robot graphSLAM using information from odometry and LaserScan ROS topics.

mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine application. Furthermore the command-line arguments offered by the latter can be provided by the user as parameters in the ROS Parameter Server. See the provided roslaunch files for examples of this. Also see the API of mrpt_graphslam_2d available here

Additional information:

Algorithm demonstration

Real-Time demo experiment - short loop

  • A sample rosbag is included in the rosbags/demo_short_loop directory. To run this just launch the sr_graphslam_demo.launch file:

    roslaunch mrpt_graphslam_2d sr_graphslam_demo.launch start_rviz:=True

  • Demo rosbag contains laserScan measurements (and odometry which is not usuable in the algorithm due to the topic type)

Real-Time experiment - ground-truth data included

  • A real-time experiment using a KUKA youbot and having a rough ground-truth estimate path is available here. Ground-Truth estimation is provided using 2 ps3 cameras placed on the room ceiling. The cameras using the ar_sys ROS package are tracking Aruco markers that act as the workspace origin (static marker) and as the robot executing SLAM (moving marker) respectively. To run this demo, just download the whole folder place it directly under the rosbags directory of the mrpt_graphslam_2d package and run the sr_graphslam_demo_gt.launch file.

    roslaunch mrpt_graphslam_2d sr_graphslam_demo_gt.launch

  • One can also tinker with the aforementioned launchfile to enable/disable the different visualization features.

  • Robot movement starts after ~60''. Due to different timestamps in the laserscans, odometry topics the algorithm feedback is lagging a bit compared to the ground-truth visualization

  • sr_graphslam_demo_gt file uses the pass_all_args XML directive which is only available starting from the Jade distribution. If you have an older one, just replace this with all the args in that file exclusively. For an example on how to do this, see the sr_graphslam_demo.launch file

  • Rosbag was recorded in the Mechanical Engineering School of the National Technical University of Athens

Notes:

  • Multi-Robot graphSLAM is not yet supported.
CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
2 roscpp
2 rospy
2 geometry_msgs
2 nav_msgs
2 std_msgs
2 sensor_msgs
2 mrpt_bridge
2 mrpt_msgs
1 tf
1 catkin

System Dependencies

Name
mrpt

Dependant Packages

No known dependants.

Launch files

  • launch/mr_graphslam.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis The purpose of the launchfile is to initialize a (single) robot agent to operate in an MR-SLAM setup.
      • output [default: screen]
      • bag_file [default: $(find mrpt_graphslam_2d)/rosbags/20161006_ktM_2nd_floor/short_loop.bag]
      • ros_is_simulation
      • NRD [default: CICPCriteriaNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
  • launch/sr_graphslam_demo_gt.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile demonstrating the mrpt_graphslam_2d application. Ground-Truth path is also shown to compare with the algorithm trajectory estimation. Practically this constitutes a wrapper around the sr_graphslam_demo.launch file NOTES: - Do not define arguments not present in the sr_graphslam_demo due to the corresponding bug: https://github.com/ros/ros_comm/issues/889 WARNING: Make sure that you have downloaded the corresponding dataset from here: https://www.dropbox.com/sh/habf5mnc5404i66/AACvbzmAQ6UrYB4ix-6aVIc9a?dl=0. See the README.md file for more information on this
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags]
      • bag_file [default: records_with_gt.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • start_rviz [default: true]
  • launch/sr_graphslam_demo.launch
    • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Launchfile for a simple demonstration of the mrpt_graphslam_2d algorithm on single robot situations. More elaborate demo files are built on top of this one - see sr_graphslam_demo_gt.launch file
      • robot_ns [default: /]
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/demo_short_loop]
      • bag_file [default: demo.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • bag_topic_remaps [default: /scan:=input/laser_scan]
      • start_rviz [default: true]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • anchor_frame_ID [default: map]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_laser_odometry.ini]
      • NRD [default: CICPCriteriaNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
  • launch/sr_graphslam.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile responsible for the mrpt_graphslam_2d application in a single agent setup. Refer to the README.md file for usage information
      • output [default: screen]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans.ini]
      • do_publish_gridmap_topic [default: true]
      • anchor_frame_ID [default: map]
      • base_link_frame_ID [default: base_link]
      • odometry_frame_ID [default: odometry]
      • laser_frame_ID [default: laser]
      • NRD [default: CFixedIntervalsNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
      • start_rviz [default: false]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • disable_MRPT_visuals [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_graphslam_2d at answers.ros.org

mrpt_graphslam_2d package from mrpt_slam repo

mrpt_ekf_slam_2d mrpt_ekf_slam_3d mrpt_graphslam_2d mrpt_icp_slam_2d mrpt_rbpf_slam mrpt_slam

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.9
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_slam.git
VCS Type git
VCS Version master
Last Updated 2019-04-13
Dev Status MAINTAINED
Released RELEASED

Package Description

Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.

Additional Links

Maintainers

  • Nikos Koukis

Authors

  • Nikos Koukis
mrpt_graphslam_2d/README.md

General Information

GitPitch

Algorithm utilizes the MRPT mrpt-graphslam library to execute single, multi-robot graphSLAM using information from odometry and LaserScan ROS topics.

mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine application. Furthermore the command-line arguments offered by the latter can be provided by the user as parameters in the ROS Parameter Server. See the provided roslaunch files for examples of this. Also see the API of mrpt_graphslam_2d available here

Additional information:

Single robot algorithm

Real-Time experiment - short loop

  • A sample rosbag is included in the rosbags/demo_short_loop directory. To run this just launch the sr_graphslam_demo.launch file:

    roslaunch mrpt_graphslam_2d sr_graphslam_demo.launch start_rviz:=True

  • Demo rosbag contains Laser Scan measurements (and odometry which is not usuable in the algorithm due to the topic type)

Real-Time experiment - ground-truth data included

  • A real-time experiment using a KUKA youbot and having a rough ground-truth estimate path is available here. Ground-Truth estimation is provided using 2 ps3 cameras placed on the room ceiling. The cameras using the ar_sys ROS package are tracking Aruco markers that act as the workspace origin (static marker) and as the robot executing SLAM (moving marker) respectively. To run this demo, simply download the entire folder, place it directly under the rosbags directory of the mrpt_graphslam_2d package and run the sr_graphslam_demo_gt.launch file.

    roslaunch mrpt_graphslam_2d sr_graphslam_demo_gt.launch

  • One can also tinker with the aforementioned launchfile to enable/disable the different visualization features, use another decider/optimizer class, or modify the .ini file to change the algorithm behavior.

  • Robot movement starts after ~60''. Due to different timestamps in the laserscans, odometry topics the algorithm feedback is lagging a bit compared to the ground-truth visualization

  • sr_graphslam_demo_gt file uses the pass_all_args XML directive which is only available starting from the ROS Jade distribution. If you have an older one, just replace this with all the args in that file exclusively. For an example on how to do this, see the sr_graphslam_demo.launch file

  • Rosbag was recorded in the Mechanical Engineering School of the National Technical University of Athens

Multi-robot algorithm

Multi-robot support is provided via the csl_mr_slam package suite as well as the use of multimaster_fkie packages utilized for communication across the various ROS agents.

Multi-robot real-time experiments - rosbag

A rosbag collected from real-robots can be found in the following link (more rosbags to be added in the MRPT-2.0 branch):

To run a demo using one of the corresponding rosbags download that directory, place it directly under the rosbags directory of the mrpt_graphslam_2d package and run the run_mr_graphslam_demo.sh script of the csl_robots_gazebo package. The latter script (as is standard with the nodes of the csl_robots_gazebo package reads its configuration parameters off the shell environment at hand and adjusts its behavior accordingly. As an examaple users can use the following command for running a multi-robot demo.

# see the script for configuration variables
rosrun csl_robots_gazebo run_mr_graphslam_demo.sh

Warning

  • For this to work, you need to have the csl_mr_slam package suite (as well as the packages that the latter depends on) in your catkin workspace.

  • When executing multi-robot graphSLAM using either Gazebo (via the csl_robots_gazebo package or using measurements from the prerecorded rosbags, you have to, a priori, generate the necessary rviz files from the template files found in $(rospack find mrpt_graphslam_2d)/rviz/templates. To do that you have to run the $(rospack find mrpt_graphslam_2d)/nodes/rename_rviz_topics.py script which changes the necessary topic names based on the running computer's hostname. See documentation of the latter script for more on its usage.

Multi-robot simulations in Gazebo - csl_mr_slam

Multi-robot simulations are supported in the Gazebo Simulator via the csl_hw_setup ROS package. An example of running such a simulation is given below.

A complete example of executing multi-robot graphSLAM in the Gazebo simulation environment is presented in the following video:

Multi-robot simulations

Real-time multi-robot experiments

As with its single-robot variant, support for running the algorithm in a real-time multi-robot setup is provided via the csl_mr_slam/csl_hw_setup package.

An example of executing real-time multi-robot graphSLAM is given here.

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/setup_robot_for_mr_demo.launch
    • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Setup an individual agent that is to run multi-robot graphSLAM Users typically don't need to run this directly and are advised to use the csl_robots_gazebo/run_graphslam_demo.sh shell script which executes this launchfile as many times as the number of robots used for the demo
      • new_robot_ns
      • verbosity [default: 1]
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans_LC_MR_real.ini]
      • NRD [default: CFixedIntervalsNRD_MR]
      • ERD [default: CLoopCloserERD_MR]
      • GSO [default: CLevMarqGSO]
  • launch/sr_graphslam_demo_gt.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile demonstrating the mrpt_graphslam_2d application. Ground-Truth path is also shown to compare with the algorithm trajectory estimation. Practically this constitutes a wrapper around the sr_graphslam_demo.launch file NOTES: - Do not define arguments not present in the sr_graphslam_demo due to the corresponding bug: https://github.com/ros/ros_comm/issues/889 WARNING: Make sure that you have downloaded the corresponding dataset from here: https://www.dropbox.com/sh/habf5mnc5404i66/AACvbzmAQ6UrYB4ix-6aVIc9a?dl=0. See the README.md file for more information on this
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/sr_graphslam_demo]
      • bag_file [default: records_with_gt.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • start_rviz [default: true]
  • launch/graphslam.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile responsible for the mrpt_graphslam_2d application in a single agent setup. Refer to the README.md file for usage information
      • output [default: screen]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans.ini]
      • do_publish_gridmap_topic [default: true]
      • run_under_gdb [default: false]
      • anchor_frame_ID [default: map]
      • base_link_frame_ID [default: base_link]
      • odometry_frame_ID [default: odometry]
      • NRD [default: CFixedIntervalsNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
      • is_mr_slam [default: false]
      • start_rviz [default: false]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • disable_MRPT_visuals [default: false]
      • verbosity [default: 1]
  • launch/sr_graphslam_demo.launch
    • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Launchfile for a simple demonstration of the mrpt_graphslam_2d algorithm in single robot situations. More elaborate demo files are built on top of this one such as the sr_graphslam_demo_gt.launch file
      • output [default: screen]
      • robot_ns [default: /]
      • disable_MRPT_visuals [default: false]
      • verbosity [default: 0]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/demo_short_loop]
      • bag_file [default: demo.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • bag_topic_remaps [default: /scan:=input/laser_scan]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_laser_odometry.ini]
      • start_rviz [default: true]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • anchor_frame_ID [default: map]
      • base_link_frame_ID [default: base_link]
      • laser_frame_ID [default: laser]
      • odometry_frame_ID [default: odometry]
      • NRD [default: CICPCriteriaNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
      • is_mr_slam [default: false]
      • play_own_rosbag [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_graphslam_2d at answers.ros.org

mrpt_graphslam_2d package from mrpt_slam repo

mrpt_ekf_slam_2d mrpt_ekf_slam_3d mrpt_graphslam_2d mrpt_icp_slam_2d mrpt_rbpf_slam mrpt_slam

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.9
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_slam.git
VCS Type git
VCS Version master
Last Updated 2019-04-13
Dev Status MAINTAINED
Released RELEASED

Package Description

Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.

Additional Links

Maintainers

  • Nikos Koukis

Authors

  • Nikos Koukis
mrpt_graphslam_2d/README.md

General Information

GitPitch

Algorithm utilizes the MRPT mrpt-graphslam library to execute single, multi-robot graphSLAM using information from odometry and LaserScan ROS topics.

mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine application. Furthermore the command-line arguments offered by the latter can be provided by the user as parameters in the ROS Parameter Server. See the provided roslaunch files for examples of this. Also see the API of mrpt_graphslam_2d available here

Additional information:

Single robot algorithm

Real-Time experiment - short loop

  • A sample rosbag is included in the rosbags/demo_short_loop directory. To run this just launch the sr_graphslam_demo.launch file:

    roslaunch mrpt_graphslam_2d sr_graphslam_demo.launch start_rviz:=True

  • Demo rosbag contains Laser Scan measurements (and odometry which is not usuable in the algorithm due to the topic type)

Real-Time experiment - ground-truth data included

  • A real-time experiment using a KUKA youbot and having a rough ground-truth estimate path is available here. Ground-Truth estimation is provided using 2 ps3 cameras placed on the room ceiling. The cameras using the ar_sys ROS package are tracking Aruco markers that act as the workspace origin (static marker) and as the robot executing SLAM (moving marker) respectively. To run this demo, simply download the entire folder, place it directly under the rosbags directory of the mrpt_graphslam_2d package and run the sr_graphslam_demo_gt.launch file.

    roslaunch mrpt_graphslam_2d sr_graphslam_demo_gt.launch

  • One can also tinker with the aforementioned launchfile to enable/disable the different visualization features, use another decider/optimizer class, or modify the .ini file to change the algorithm behavior.

  • Robot movement starts after ~60''. Due to different timestamps in the laserscans, odometry topics the algorithm feedback is lagging a bit compared to the ground-truth visualization

  • sr_graphslam_demo_gt file uses the pass_all_args XML directive which is only available starting from the ROS Jade distribution. If you have an older one, just replace this with all the args in that file exclusively. For an example on how to do this, see the sr_graphslam_demo.launch file

  • Rosbag was recorded in the Mechanical Engineering School of the National Technical University of Athens

Multi-robot algorithm

Multi-robot support is provided via the csl_mr_slam package suite as well as the use of multimaster_fkie packages utilized for communication across the various ROS agents.

Multi-robot real-time experiments - rosbag

A rosbag collected from real-robots can be found in the following link (more rosbags to be added in the MRPT-2.0 branch):

To run a demo using one of the corresponding rosbags download that directory, place it directly under the rosbags directory of the mrpt_graphslam_2d package and run the run_mr_graphslam_demo.sh script of the csl_robots_gazebo package. The latter script (as is standard with the nodes of the csl_robots_gazebo package reads its configuration parameters off the shell environment at hand and adjusts its behavior accordingly. As an examaple users can use the following command for running a multi-robot demo.

# see the script for configuration variables
rosrun csl_robots_gazebo run_mr_graphslam_demo.sh

Warning

  • For this to work, you need to have the csl_mr_slam package suite (as well as the packages that the latter depends on) in your catkin workspace.

  • When executing multi-robot graphSLAM using either Gazebo (via the csl_robots_gazebo package or using measurements from the prerecorded rosbags, you have to, a priori, generate the necessary rviz files from the template files found in $(rospack find mrpt_graphslam_2d)/rviz/templates. To do that you have to run the $(rospack find mrpt_graphslam_2d)/nodes/rename_rviz_topics.py script which changes the necessary topic names based on the running computer's hostname. See documentation of the latter script for more on its usage.

Multi-robot simulations in Gazebo - csl_mr_slam

Multi-robot simulations are supported in the Gazebo Simulator via the csl_hw_setup ROS package. An example of running such a simulation is given below.

A complete example of executing multi-robot graphSLAM in the Gazebo simulation environment is presented in the following video:

Multi-robot simulations

Real-time multi-robot experiments

As with its single-robot variant, support for running the algorithm in a real-time multi-robot setup is provided via the csl_mr_slam/csl_hw_setup package.

An example of executing real-time multi-robot graphSLAM is given here.

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/setup_robot_for_mr_demo.launch
    • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Setup an individual agent that is to run multi-robot graphSLAM Users typically don't need to run this directly and are advised to use the csl_robots_gazebo/run_graphslam_demo.sh shell script which executes this launchfile as many times as the number of robots used for the demo
      • new_robot_ns
      • verbosity [default: 1]
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans_LC_MR_real.ini]
      • NRD [default: CFixedIntervalsNRD_MR]
      • ERD [default: CLoopCloserERD_MR]
      • GSO [default: CLevMarqGSO]
  • launch/sr_graphslam_demo_gt.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile demonstrating the mrpt_graphslam_2d application. Ground-Truth path is also shown to compare with the algorithm trajectory estimation. Practically this constitutes a wrapper around the sr_graphslam_demo.launch file NOTES: - Do not define arguments not present in the sr_graphslam_demo due to the corresponding bug: https://github.com/ros/ros_comm/issues/889 WARNING: Make sure that you have downloaded the corresponding dataset from here: https://www.dropbox.com/sh/habf5mnc5404i66/AACvbzmAQ6UrYB4ix-6aVIc9a?dl=0. See the README.md file for more information on this
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/sr_graphslam_demo]
      • bag_file [default: records_with_gt.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • start_rviz [default: true]
  • launch/graphslam.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile responsible for the mrpt_graphslam_2d application in a single agent setup. Refer to the README.md file for usage information
      • output [default: screen]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans.ini]
      • do_publish_gridmap_topic [default: true]
      • run_under_gdb [default: false]
      • anchor_frame_ID [default: map]
      • base_link_frame_ID [default: base_link]
      • odometry_frame_ID [default: odometry]
      • NRD [default: CFixedIntervalsNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
      • is_mr_slam [default: false]
      • start_rviz [default: false]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • disable_MRPT_visuals [default: false]
      • verbosity [default: 1]
  • launch/sr_graphslam_demo.launch
    • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Launchfile for a simple demonstration of the mrpt_graphslam_2d algorithm in single robot situations. More elaborate demo files are built on top of this one such as the sr_graphslam_demo_gt.launch file
      • output [default: screen]
      • robot_ns [default: /]
      • disable_MRPT_visuals [default: false]
      • verbosity [default: 0]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/demo_short_loop]
      • bag_file [default: demo.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • bag_topic_remaps [default: /scan:=input/laser_scan]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_laser_odometry.ini]
      • start_rviz [default: true]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • anchor_frame_ID [default: map]
      • base_link_frame_ID [default: base_link]
      • laser_frame_ID [default: laser]
      • odometry_frame_ID [default: odometry]
      • NRD [default: CICPCriteriaNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
      • is_mr_slam [default: false]
      • play_own_rosbag [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_graphslam_2d at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.

mrpt_graphslam_2d package from mrpt_slam repo

mrpt_ekf_slam_2d mrpt_ekf_slam_3d mrpt_graphslam_2d mrpt_icp_slam_2d mrpt_rbpf_slam mrpt_slam

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.9
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_slam.git
VCS Type git
VCS Version master
Last Updated 2019-04-13
Dev Status MAINTAINED
Released RELEASED

Package Description

Implement graphSLAM using the mrpt-graphslam library, in an online fashion by directly reading measurements off ROS Topics.

Additional Links

Maintainers

  • Nikos Koukis

Authors

  • Nikos Koukis
mrpt_graphslam_2d/README.md

General Information

GitPitch

Algorithm utilizes the MRPT mrpt-graphslam library to execute single, multi-robot graphSLAM using information from odometry and LaserScan ROS topics.

mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine application. Furthermore the command-line arguments offered by the latter can be provided by the user as parameters in the ROS Parameter Server. See the provided roslaunch files for examples of this. Also see the API of mrpt_graphslam_2d available here

Additional information:

Single robot algorithm

Real-Time experiment - short loop

  • A sample rosbag is included in the rosbags/demo_short_loop directory. To run this just launch the sr_graphslam_demo.launch file:

    roslaunch mrpt_graphslam_2d sr_graphslam_demo.launch start_rviz:=True

  • Demo rosbag contains Laser Scan measurements (and odometry which is not usuable in the algorithm due to the topic type)

Real-Time experiment - ground-truth data included

  • A real-time experiment using a KUKA youbot and having a rough ground-truth estimate path is available here. Ground-Truth estimation is provided using 2 ps3 cameras placed on the room ceiling. The cameras using the ar_sys ROS package are tracking Aruco markers that act as the workspace origin (static marker) and as the robot executing SLAM (moving marker) respectively. To run this demo, simply download the entire folder, place it directly under the rosbags directory of the mrpt_graphslam_2d package and run the sr_graphslam_demo_gt.launch file.

    roslaunch mrpt_graphslam_2d sr_graphslam_demo_gt.launch

  • One can also tinker with the aforementioned launchfile to enable/disable the different visualization features, use another decider/optimizer class, or modify the .ini file to change the algorithm behavior.

  • Robot movement starts after ~60''. Due to different timestamps in the laserscans, odometry topics the algorithm feedback is lagging a bit compared to the ground-truth visualization

  • sr_graphslam_demo_gt file uses the pass_all_args XML directive which is only available starting from the ROS Jade distribution. If you have an older one, just replace this with all the args in that file exclusively. For an example on how to do this, see the sr_graphslam_demo.launch file

  • Rosbag was recorded in the Mechanical Engineering School of the National Technical University of Athens

Multi-robot algorithm

Multi-robot support is provided via the csl_mr_slam package suite as well as the use of multimaster_fkie packages utilized for communication across the various ROS agents.

Multi-robot real-time experiments - rosbag

A rosbag collected from real-robots can be found in the following link (more rosbags to be added in the MRPT-2.0 branch):

To run a demo using one of the corresponding rosbags download that directory, place it directly under the rosbags directory of the mrpt_graphslam_2d package and run the run_mr_graphslam_demo.sh script of the csl_robots_gazebo package. The latter script (as is standard with the nodes of the csl_robots_gazebo package reads its configuration parameters off the shell environment at hand and adjusts its behavior accordingly. As an examaple users can use the following command for running a multi-robot demo.

# see the script for configuration variables
rosrun csl_robots_gazebo run_mr_graphslam_demo.sh

Warning

  • For this to work, you need to have the csl_mr_slam package suite (as well as the packages that the latter depends on) in your catkin workspace.

  • When executing multi-robot graphSLAM using either Gazebo (via the csl_robots_gazebo package or using measurements from the prerecorded rosbags, you have to, a priori, generate the necessary rviz files from the template files found in $(rospack find mrpt_graphslam_2d)/rviz/templates. To do that you have to run the $(rospack find mrpt_graphslam_2d)/nodes/rename_rviz_topics.py script which changes the necessary topic names based on the running computer's hostname. See documentation of the latter script for more on its usage.

Multi-robot simulations in Gazebo - csl_mr_slam

Multi-robot simulations are supported in the Gazebo Simulator via the csl_hw_setup ROS package. An example of running such a simulation is given below.

A complete example of executing multi-robot graphSLAM in the Gazebo simulation environment is presented in the following video:

Multi-robot simulations

Real-time multi-robot experiments

As with its single-robot variant, support for running the algorithm in a real-time multi-robot setup is provided via the csl_mr_slam/csl_hw_setup package.

An example of executing real-time multi-robot graphSLAM is given here.

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/setup_robot_for_mr_demo.launch
    • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Setup an individual agent that is to run multi-robot graphSLAM Users typically don't need to run this directly and are advised to use the csl_robots_gazebo/run_graphslam_demo.sh shell script which executes this launchfile as many times as the number of robots used for the demo
      • new_robot_ns
      • verbosity [default: 1]
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans_LC_MR_real.ini]
      • NRD [default: CFixedIntervalsNRD_MR]
      • ERD [default: CLoopCloserERD_MR]
      • GSO [default: CLevMarqGSO]
  • launch/sr_graphslam_demo_gt.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile demonstrating the mrpt_graphslam_2d application. Ground-Truth path is also shown to compare with the algorithm trajectory estimation. Practically this constitutes a wrapper around the sr_graphslam_demo.launch file NOTES: - Do not define arguments not present in the sr_graphslam_demo due to the corresponding bug: https://github.com/ros/ros_comm/issues/889 WARNING: Make sure that you have downloaded the corresponding dataset from here: https://www.dropbox.com/sh/habf5mnc5404i66/AACvbzmAQ6UrYB4ix-6aVIc9a?dl=0. See the README.md file for more information on this
      • output [default: screen]
      • disable_MRPT_visuals [default: false]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/sr_graphslam_demo]
      • bag_file [default: records_with_gt.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • start_rviz [default: true]
  • launch/graphslam.launch
    • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile responsible for the mrpt_graphslam_2d application in a single agent setup. Refer to the README.md file for usage information
      • output [default: screen]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans.ini]
      • do_publish_gridmap_topic [default: true]
      • run_under_gdb [default: false]
      • anchor_frame_ID [default: map]
      • base_link_frame_ID [default: base_link]
      • odometry_frame_ID [default: odometry]
      • NRD [default: CFixedIntervalsNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
      • is_mr_slam [default: false]
      • start_rviz [default: false]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • disable_MRPT_visuals [default: false]
      • verbosity [default: 1]
  • launch/sr_graphslam_demo.launch
    • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Launchfile for a simple demonstration of the mrpt_graphslam_2d algorithm in single robot situations. More elaborate demo files are built on top of this one such as the sr_graphslam_demo_gt.launch file
      • output [default: screen]
      • robot_ns [default: /]
      • disable_MRPT_visuals [default: false]
      • verbosity [default: 0]
      • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/demo_short_loop]
      • bag_file [default: demo.bag]
      • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
      • bag_topic_remaps [default: /scan:=input/laser_scan]
      • config_file [default: $(find mrpt_graphslam_2d)/config/ros_laser_odometry.ini]
      • start_rviz [default: true]
      • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
      • anchor_frame_ID [default: map]
      • base_link_frame_ID [default: base_link]
      • laser_frame_ID [default: laser]
      • odometry_frame_ID [default: odometry]
      • NRD [default: CICPCriteriaNRD]
      • ERD [default: CICPCriteriaERD]
      • GSO [default: CLevMarqGSO]
      • is_mr_slam [default: false]
      • play_own_rosbag [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mrpt_graphslam_2d at answers.ros.org

No version for distro hydro. Known supported distros are highlighted in the buttons above.