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iris_lama_ros package from iris_lama_ros repo

iris_lama_ros

Package Summary

Tags No category tags.
Version 1.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/iris-ua/iris_lama_ros.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-05-05
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS package of IRIS Localization and Mapping (LaMa).

Additional Links

No additional links.

Maintainers

  • Eurico Pedrosa

Authors

  • Eurico Pedrosa

LaMa ROS - Alternative Localization and Mapping for ROS.

https://github.com/iris-ua/iris_lama_ros

Developed and maintained by Eurico Pedrosa, University of Aveiro (C) 2019.

Overview

ROS integration of LaMa, a Localization and Mapping package from the Intelligent Robotics and Systems (IRIS) Laboratory, University of Aveiro. It provides 2D Localization and SLAM. It works great on a TurtleBot2 with a Raspberry Pi 3 Model B+ and an Hokuyo (Rapid URG).

Build

To build LaMa ROS, clone it from GitHub and use catkin to build.

mkdir src
cd src
git clone https://github.com/iris-ua/iris_lama
git clone https://github.com/iris-ua/iris_lama_ros
cd ..
catkin config --extend /opt/ros/melodic
catkin build

The build was tested in Ubuntu 18.04 with ROS melodic. It will not build with catkin_make or catkin_make_isolated.

SLAM nodes

To create a map using Online SLAM execute

rosrun iris_lama_ros slam2d_ros scan_topic:=base_scan

and to create a map using Particle Filter SLAM execute

rosrun iris_lama_ros pf_slam2d_ros scan_topic:=base_scan

Both nodes will publish to expected topics such as /map and /tf.

Offline Mapping (rosbag)

If you want to obtain a map from a rosbag and you want to save time (a lot), you can let iris_lama_ros "play" the rosbag for you.

roslaunch iris_lama_ros slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag

or

roslaunch iris_lama_ros pf_slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag

Parameters

  • ~global_frame_id: The frame attached to the map (default: "map").
  • ~odom_frame_id: The frame attached to the odometry system (default: "odometry").
  • ~base_frame_id: The frame attached to the mobile base (default: "base_link").
  • ~scan_topic: Laser scan topic to subscribe (default: "/scan").
  • ~initial_pos_x: Initial x position (default: 0 meters).
  • ~initial_pos_y: Initial y position (default: 0 meters).
  • ~initial_pos_a: Initial rotation (or angle) (default: 0 rad).
  • ~d_thresh: Traveled distance to accumulate before updating (default: 0.01 meters).
  • ~a_thresh: Angular motion to accumulate before updating (default: 0.25 rads).
  • ~l2_max: Maximum distance to use in the dynamic Euclidean distance map (default: 0.5 meters).
  • ~resolution: Resolution of the grid maps (default: 0.05 meters).
  • ~patch_size: Length of a patch (default: 32 cells).
  • ~strategy: Scan matching optimization strategy, GaussNewton ("gm") or Levenberg Marquard ("lm") (default: "gn").
  • ~max_iterations: Maximum number of interations performed by the optimizer (default: 100)
  • ~use_compression: Should the maps be compressed (default: false).
  • ~compression_algorithm: Compression algorithm to use, lz4 or zstd (default: "lz4").
  • ~cache_size: Size of the LRU used during online data compression (default: 100).
  • ~mrange: Maximum laser scan range (default: 16 meters).
  • ~map_publish_period: How long between updates to the map (default: 5 seconds).

Particle Filter SLAM only: * ~d_thresh: Traveled distance to accumulate before updating (default: 0.5 meters). * ~particles: Number of particles to use (default: 30). * ~seed: RNG seed value, use 0 for a random seed from device (default: 0) * ~threads: Number of working threads, -1 means disabled and 0 will expand to the available number of cores (default: -1). * ~sigma: Measurement variance (default: 0.05). * ~lgain: Gain value for smoothing the particles likelihood (default: 3.0). * ~srr: Odometry error in rotation as a function of rotation (default: 0.1). * ~str: Odometry error in rotation as a function of translation (default: 0.2). * ~stt: Odometry error in traslation as a function of translation (default: 0.1). * ~srt: Odometry error in translation as a funciton of rotation (default: 0.1).

Localization node

This node requires the existence of the /static_map service to load the map. To run the localization just execute

rosrun iris_lama_ros loc2d_ros scan:=base_scan

Please use rviz to set the initial pose. Global localization is not yet implemented.

Parameters

  • ~global_frame_id: The frame attached to the map (default: "map").
  • ~odom_frame_id: The frame attached to the odometry system (default: "odometry").
  • ~base_frame_id: The frame attached to the mobile base (default: "base_link").
  • ~scan_topic: Laser scan topic to subscribe (default: "/scan").
  • ~initial_pos_x: Initial x position (default: 0 meters).
  • ~initial_pos_y: Initial y position (default: 0 meters).
  • ~initial_pos_a: Initial rotation (or angle) (default: 0 rad).
  • ~d_thresh: Traveled distance to accumulate before updating (default: 0.01 meters).
  • ~a_thresh: Angular motion to accumulate before updating (default: 0.2 rads).
  • ~l2_max: Maximum distance to use in the dynamic Euclidean distance map (default: 0.5 meters).
  • ~strategy: Scan matching optimization strategy, GaussNewton ("gm") or Levenberg Marquard ("lm") (default: "gn").
  • ~patch_size: Length of a patch (default: 32 cells).
CHANGELOG

Changelog for package iris_lama_ros

1.0.0 (2020-05-05)

  • First official release.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

  • launch/slam2d_offine.launch
      • scan_topic [default: /scan]
      • rosbag
      • particles [default: 30]
      • d_thresh [default: 0.5]
      • a_thresh [default: 0.5]
      • mrange [default: 20]
      • threads [default: 4]
      • use_compression [default: false]
  • launch/pf_slam2d_offine.launch
      • scan_topic [default: /scan]
      • rosbag
      • particles [default: 30]
      • d_thresh [default: 0.5]
      • a_thresh [default: 0.5]
      • mrange [default: 20]
      • threads [default: 4]
      • use_compression [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged iris_lama_ros at answers.ros.org

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