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Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/CLOBOT-Co-Ltd/clober.git
VCS Type git
VCS Version foxy-devel
Last Updated 2021-09-14
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

clober slam package

Additional Links

No additional links.

Maintainers

  • clobot-git

Authors

No additional authors.

Clober SLAM

1. Run Clober (Simulation)

1.1 Launch Simulation World

export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/clober_ws/src/clober/clober_simulation/models

source /opt/ros/foxy/setup.bash
source ~/clober_ws/install/setup.bash
ros2 launch clober_simulation clober_world.launch.py

1.2 Operate Clober

To teleoperate the simulated Clober with the keyboard, launch the teleoperation node in a new terminal window.

ros2 run teleop_twist_keyboard teleop_twist_keyboard

2. Launch SLAM

2.1 Cartographer SLAM

install cartographer package :

sudo apt-get install ros-foxy-cartographer*

Launch Cartographer SLAM :

source /opt/ros/foxy/setup.bash
source ~/clober_ws/install/setup.bash
ros2 launch clober_slam cartographer.launch.py

2.2 Gmapping SLAM

install slam_gmapping package :

git clone https://github.com/clobot-git/slam_gmapping.git

Launch Gmapping SLAM :

source /opt/ros/foxy/setup.bash
source ~/clober_ws/install/setup.bash
ros2 launch clober_slam gmapping.launch.py

3. Save the map

source /opt/ros/foxy/setup.bash
ros2 run nav2_map_server map_saver_cli -f (filename) --ros-args -p save_map_timeout:=10000

CHANGELOG

Changelog for clober_slam pacakage ^^^^^^^^^^^^^^^^^^^^^^^

0.1.0 (2021-06-18)

  • add initial clober_slam pacakage

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged clober_slam at answers.ros.org

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

Package Summary

Tags No category tags.
Version 1.0.4
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/CLOBOT-Co-Ltd/clober.git
VCS Type git
VCS Version noetic-devel
Last Updated 2021-09-14
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package includes launch files for slam

Additional Links

No additional links.

Maintainers

  • clobot-git

Authors

No additional authors.

Clober SLAM

Clober may move & rotate for navigation. Make sure you are operating in a safe environment

The SLAM (Simultaneous Localization and Mapping) is a technique to draw a map by estimating current location in an arbitrary space. The SLAM is a well-known feature of Clober from its predecessors.

1. Run SLAM Nodes

1.1 Bringup Robot

  1. Run a Bringup for the Clober.
  roslaunch clober_bringup base.launch

  • This can be substituted by running a simulation node
  roslaunch clober_simulation logo_world.launch

1.2 Launch SLAM Node

On a new terminal run a SLAM node. Gmapping SLAM is used by default.

  roslaunch clober_slam clober_slam.launch slam_methods:=gmapping

1.3 Run Teleoperation Node

On a new terminal run a teleoperation node to explore and map the world.

  rosrun teleop_twist_keyboard teleop_twist_keyboard.py

1.4 Save Map

After successful SLAM and map creation, open a new terminal to save the map.

  rosrun map_server map_saver -f ~/map

If you've saved your map successfully it should look like the following. The map uses two-dimensional Occupancy Grid Map (OGM), which is commonly used in ROS and Navigation.

White area is collision free area while black area is occupied and inaccessible, and gray area represents the unknown area.

2. Tuning Guide

Gmapping has many parameters to change performances for different environments. You can get an information about whole parameters in ROS WiKi. This tuning guide provides tips when configuring gmapping parameters. If you want to optimize SLAM performances for your environments, this section might be helpful.

Parameters below are defined in clober_slam/config/gmapping_params.yaml file.

2.1 maxUrange

  • This parameter is set the maximum usable range of the lidar sensor.

default :

  maxUrange: 3.0

2.2 map_update_interval

  • This parameter defines time between updating the map. The smaller the value, the more frequent the map is updated. However, setting this too small will be require more processing power for the map calculation. Set this parameter depending on the map environment.

default :

  map_update_interval: 2.0

2.3 minimumScore

  • This parameter sets the minimum score value that determines the success or failure of the sensor’s scan data matching test. This can reduce errors in the expected position of the robot in a large area.

default :

  minimumScore: 50

If the parameter is set properly, you will see information similar to one shown below.

  Average Scan Matching Score=278.965
  neff= 100
  Registering Scans:Done
  update frame 6
  update ld=2.95935e-05 ad=0.000302522
  Laser Pose= -0.0320253 -5.36882e-06 -3.14142

If set too high, you might see below warnings.

  Scan Matching Failed, using odometry. Likelihood=0
  lp:-0.0306155 5.75314e-06 -3.14151
  op:-0.0306156 5.90277e-06 -3.14151

2.4 linearUpdate

  • When the robot translates longer distance than this value, it will run the scan process.

default :

  linearUpdate: 1.0

2.5 angularUpdate

  • When the robot rotates more than this value, it will run the scan process. It is recommended to set this value less than linearUpdate.

default :

  angularUpdate: 0.2

CHANGELOG

Changelog for package clober_slam

1.0.4 (2021-09-03)

  • odom mode 0 check
  • Contributors: dev

1.0.3 (2021-08-11)

1.0.2 (2021-08-11)

  • Merge pull request #7 from clobot-git/noetic-devel Noetic devel
  • modify clober_slam CMakeLists.txt
  • Contributors: CLOBOT, clobot-git

1.0.1 (2021-07-12)

1.0.0 (2021-07-12)

  • Initial Clober package

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

  • launch/clober_slam.launch
      • model [default: clober]
      • slam_methods [default: gmapping] — slam type [gmapping, cartographer, hector, karto, frontier_exploration]
  • launch/clober_gmapping.launch
      • model [default: clober]
      • set_base_frame [default: base_link]
      • set_odom_frame [default: odom]
      • set_map_frame [default: map]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged clober_slam at answers.ros.org

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