No version for distro humble showing lunar. 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

ROS Distro
lunar

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro kilted showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro rolling showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro ardent showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro bouncy showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro crystal showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro eloquent showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro dashing showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro galactic showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro foxy showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

No version for distro iron showing lunar. 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

ROS Distro
lunar

API Docs
Browse Code

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code

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

ROS Distro
lunar

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.1.10
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	2022-04-29
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

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):

multi_robot_graphSLAM_short

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.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mrpt_graphslam_2d

0.1.10 (2019-10-05)

fix build against current mrpt2
fix build against mrpt2
Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.1.9 (2019-04-14)

Fix build against MRPT 1.9.9
Switch header guards to pragma once
Contributors: Jose Luis Blanco-Claraco, Julian Lopez Velasquez, Vladislav Tananaev

0.1.8 (2018-09-21)

Make catkin_lint clean
Contributors: Jose Luis Blanco Claraco

0.1.7 (2018-09-20)

mrpt_graphslam_2d: Fix compilation warnings
Remove installation of the demo directory from mrpt_graphslam_2d. It doesn't exist, so causes problems at the last stage of cmake. Signed-off-by: Chris Lalancette <<clalancette@openrobotics.org>>
Contributors: Chris Lalancette, Jose Luis Blanco-Claraco, Nikos Koukis

0.1.6 (2018-06-14)

Fixed compilation with MRPT 1.5
Merge pull request #41 from MaxGsomGsom/master Fixed build with mrpt 2.0
Fixed indents
Fixed build with mrpt 2.0
partial fix build w mrpt 2.0
fix build in mrpt 2.0
fix build; add optimized builds (-O3)
fix build against mrpt 1.5 series
Merge pull request #32 from bergercookie/master Correct prev_nodes_ICP error
Correct prev_nodes_ICP member var
mrpt_graphslam_2d: Add link to GitPitch slideshow
mrpt_graphslam_2d: Validate user args in rename_rviz_topics.py
use consistent cmake conventions for c++14
all but mrpt_graphslam_2d compiling against mrpt2.0
porting to mrpt2
fix #28, compiling all nodes using -std=c++14
CMake finds MRPT >=1.5 in branch master
Merge pull request #23 from bergercookie/graphslam-devel mrpt_graphslam_2d:Add to ini config files, instructions
mrpt_graphslam_2d:Fix broken links in README
mrpt_graphslam_2d:Use template files and python script to generate rviz files for rosbag, gazebo runs
mrpt_graphslam_2d:Add to the instructions for running graphSLAM from rosbags
mrpt_graphslam_2d:Update graphslam_real_2.rviz file
mrpt_graphslam_2d:Tweak config for real-time usage
mrpt_graphslam_2d:Have .ini file specifically for gazebo simulations
mrpt_graphslam_2d:CGraphSlamEngine_MR to have its own struct for config variables
mrpt_graphslam_2d:Finish configuration for mr-slam with rosbags
mrpt_graphslam_2d:Add initial setup and instructions for running mr-slam from rosbags
mrpt_graphslam_2d:Correct sr_graphslam_demo_gt execution
mrpt-graphslam:Modify parameters of mr-slam .ini file
mrpt_graphslam:Add rviz file for 4 agents
mrpt-graphslam:Remove deprecated .ini argument
mrpt-graphslam_2d:Add using directives when needed
Merge pull request #22 from bergercookie/graphslam-devel Add support for 2D multi-robot SLAM
mrpt_graphslam_2d:Comply to MRPT changes
Comply to new MRPT_LOG_*_STREAM format
Update rviz files, launchfiles
mrpt_graphslam_2d: Correct error in visualization of robot orientation in rviz
mrpt_graphslam_2d: Publish current robot_position to topic
Update rviz file
mrpt_graphslam_2d: Visualize compressed versions of images
mrpt_graphslam_2d: Update documentation
mrpt_graphslam_2d: Add local .gitignore
mrpt_graphslam_2d: Skip first unecessary seconds of demo_short_loop rosbag
Fix bug when running with more than 2 agents Bug occurred due to a dangling reference after rewriting the contents of a vector
mrpt_graphslam_2d: Successful mr-graphslam real-time experiment
Add configuration file for real-time mr-graphSLAM
mrpt_graphslam_2d: Have topic_namespace of agent be the same as its name
mrpt_graphslam_2d: Add rest of nodes in batches Knowing the transformation from own graph to neighbor's graph I integrate into own map the rest of the received nodes in batches of X nodes (default=4)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt2
	mrpt_bridge
	mrpt_msgs
	tf
	tf2
	fkie_multimaster_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
mrpt_slam

Launch files

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/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.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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.1.10
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	2022-04-29
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

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):

multi_robot_graphSLAM_short

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.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mrpt_graphslam_2d

0.1.10 (2019-10-05)

fix build against current mrpt2
fix build against mrpt2
Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.1.9 (2019-04-14)

Fix build against MRPT 1.9.9
Switch header guards to pragma once
Contributors: Jose Luis Blanco-Claraco, Julian Lopez Velasquez, Vladislav Tananaev

0.1.8 (2018-09-21)

Make catkin_lint clean
Contributors: Jose Luis Blanco Claraco

0.1.7 (2018-09-20)

mrpt_graphslam_2d: Fix compilation warnings
Remove installation of the demo directory from mrpt_graphslam_2d. It doesn't exist, so causes problems at the last stage of cmake. Signed-off-by: Chris Lalancette <<clalancette@openrobotics.org>>
Contributors: Chris Lalancette, Jose Luis Blanco-Claraco, Nikos Koukis

0.1.6 (2018-06-14)

Fixed compilation with MRPT 1.5
Merge pull request #41 from MaxGsomGsom/master Fixed build with mrpt 2.0
Fixed indents
Fixed build with mrpt 2.0
partial fix build w mrpt 2.0
fix build in mrpt 2.0
fix build; add optimized builds (-O3)
fix build against mrpt 1.5 series
Merge pull request #32 from bergercookie/master Correct prev_nodes_ICP error
Correct prev_nodes_ICP member var
mrpt_graphslam_2d: Add link to GitPitch slideshow
mrpt_graphslam_2d: Validate user args in rename_rviz_topics.py
use consistent cmake conventions for c++14
all but mrpt_graphslam_2d compiling against mrpt2.0
porting to mrpt2
fix #28, compiling all nodes using -std=c++14
CMake finds MRPT >=1.5 in branch master
Merge pull request #23 from bergercookie/graphslam-devel mrpt_graphslam_2d:Add to ini config files, instructions
mrpt_graphslam_2d:Fix broken links in README
mrpt_graphslam_2d:Use template files and python script to generate rviz files for rosbag, gazebo runs
mrpt_graphslam_2d:Add to the instructions for running graphSLAM from rosbags
mrpt_graphslam_2d:Update graphslam_real_2.rviz file
mrpt_graphslam_2d:Tweak config for real-time usage
mrpt_graphslam_2d:Have .ini file specifically for gazebo simulations
mrpt_graphslam_2d:CGraphSlamEngine_MR to have its own struct for config variables
mrpt_graphslam_2d:Finish configuration for mr-slam with rosbags
mrpt_graphslam_2d:Add initial setup and instructions for running mr-slam from rosbags
mrpt_graphslam_2d:Correct sr_graphslam_demo_gt execution
mrpt-graphslam:Modify parameters of mr-slam .ini file
mrpt_graphslam:Add rviz file for 4 agents
mrpt-graphslam:Remove deprecated .ini argument
mrpt-graphslam_2d:Add using directives when needed
Merge pull request #22 from bergercookie/graphslam-devel Add support for 2D multi-robot SLAM
mrpt_graphslam_2d:Comply to MRPT changes
Comply to new MRPT_LOG_*_STREAM format
Update rviz files, launchfiles
mrpt_graphslam_2d: Correct error in visualization of robot orientation in rviz
mrpt_graphslam_2d: Publish current robot_position to topic
Update rviz file
mrpt_graphslam_2d: Visualize compressed versions of images
mrpt_graphslam_2d: Update documentation
mrpt_graphslam_2d: Add local .gitignore
mrpt_graphslam_2d: Skip first unecessary seconds of demo_short_loop rosbag
Fix bug when running with more than 2 agents Bug occurred due to a dangling reference after rewriting the contents of a vector
mrpt_graphslam_2d: Successful mr-graphslam real-time experiment
Add configuration file for real-time mr-graphSLAM
mrpt_graphslam_2d: Have topic_namespace of agent be the same as its name
mrpt_graphslam_2d: Add rest of nodes in batches Knowing the transformation from own graph to neighbor's graph I integrate into own map the rest of the received nodes in batches of X nodes (default=4)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt2
	mrpt_bridge
	mrpt_msgs
	tf
	tf2
	fkie_multimaster_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
mrpt_slam

Launch files

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/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.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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro hydro showing lunar. 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

ROS Distro
lunar

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.1.10
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	2022-04-29
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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

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):

multi_robot_graphSLAM_short

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.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mrpt_graphslam_2d

0.1.10 (2019-10-05)

fix build against current mrpt2
fix build against mrpt2
Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.1.9 (2019-04-14)

Fix build against MRPT 1.9.9
Switch header guards to pragma once
Contributors: Jose Luis Blanco-Claraco, Julian Lopez Velasquez, Vladislav Tananaev

0.1.8 (2018-09-21)

Make catkin_lint clean
Contributors: Jose Luis Blanco Claraco

0.1.7 (2018-09-20)

mrpt_graphslam_2d: Fix compilation warnings
Remove installation of the demo directory from mrpt_graphslam_2d. It doesn't exist, so causes problems at the last stage of cmake. Signed-off-by: Chris Lalancette <<clalancette@openrobotics.org>>
Contributors: Chris Lalancette, Jose Luis Blanco-Claraco, Nikos Koukis

0.1.6 (2018-06-14)

Fixed compilation with MRPT 1.5
Merge pull request #41 from MaxGsomGsom/master Fixed build with mrpt 2.0
Fixed indents
Fixed build with mrpt 2.0
partial fix build w mrpt 2.0
fix build in mrpt 2.0
fix build; add optimized builds (-O3)
fix build against mrpt 1.5 series
Merge pull request #32 from bergercookie/master Correct prev_nodes_ICP error
Correct prev_nodes_ICP member var
mrpt_graphslam_2d: Add link to GitPitch slideshow
mrpt_graphslam_2d: Validate user args in rename_rviz_topics.py
use consistent cmake conventions for c++14
all but mrpt_graphslam_2d compiling against mrpt2.0
porting to mrpt2
fix #28, compiling all nodes using -std=c++14
CMake finds MRPT >=1.5 in branch master
Merge pull request #23 from bergercookie/graphslam-devel mrpt_graphslam_2d:Add to ini config files, instructions
mrpt_graphslam_2d:Fix broken links in README
mrpt_graphslam_2d:Use template files and python script to generate rviz files for rosbag, gazebo runs
mrpt_graphslam_2d:Add to the instructions for running graphSLAM from rosbags
mrpt_graphslam_2d:Update graphslam_real_2.rviz file
mrpt_graphslam_2d:Tweak config for real-time usage
mrpt_graphslam_2d:Have .ini file specifically for gazebo simulations
mrpt_graphslam_2d:CGraphSlamEngine_MR to have its own struct for config variables
mrpt_graphslam_2d:Finish configuration for mr-slam with rosbags
mrpt_graphslam_2d:Add initial setup and instructions for running mr-slam from rosbags
mrpt_graphslam_2d:Correct sr_graphslam_demo_gt execution
mrpt-graphslam:Modify parameters of mr-slam .ini file
mrpt_graphslam:Add rviz file for 4 agents
mrpt-graphslam:Remove deprecated .ini argument
mrpt-graphslam_2d:Add using directives when needed
Merge pull request #22 from bergercookie/graphslam-devel Add support for 2D multi-robot SLAM
mrpt_graphslam_2d:Comply to MRPT changes
Comply to new MRPT_LOG_*_STREAM format
Update rviz files, launchfiles
mrpt_graphslam_2d: Correct error in visualization of robot orientation in rviz
mrpt_graphslam_2d: Publish current robot_position to topic
Update rviz file
mrpt_graphslam_2d: Visualize compressed versions of images
mrpt_graphslam_2d: Update documentation
mrpt_graphslam_2d: Add local .gitignore
mrpt_graphslam_2d: Skip first unecessary seconds of demo_short_loop rosbag
Fix bug when running with more than 2 agents Bug occurred due to a dangling reference after rewriting the contents of a vector
mrpt_graphslam_2d: Successful mr-graphslam real-time experiment
Add configuration file for real-time mr-graphSLAM
mrpt_graphslam_2d: Have topic_namespace of agent be the same as its name
mrpt_graphslam_2d: Add rest of nodes in batches Knowing the transformation from own graph to neighbor's graph I integrate into own map the rest of the received nodes in batches of X nodes (default=4)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt2
	mrpt_bridge
	mrpt_msgs
	tf
	tf2
	fkie_multimaster_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
mrpt_slam

Launch files

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/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.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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro melodic showing lunar. 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

ROS Distro
lunar

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	2023-04-12
Dev Status	MAINTAINED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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:

mrpt-graphslam library
graphslam-engine application page
graphslam-engine documentation
TODO - Upload and include Youtube demo video w/ ground-truth

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

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

mrpt_graphslam_2d: Correct syntax in README file
mrpt_graphslam_2d: Complete the demo rviz, launch files Finish setting up the demos-related files. Setup a hierarchy of launchfiles with each each one delegating the corresponding tasks to the next one with the sr_graphslam.launch as the final link in this chain. This should make up for an easier maintenance of the whole setup later on.
Renamed demo bagfile
Be consistent with rviz, launchfile names
Readd demo_short_loop bag
mrpt_graphslam_2d: Add demo_gt launchfile for launching demo rosbag
Skip mrpt_graphslam_2d compilation if MRPT version < 1.5.0
mrpt_graphslam_2d: Add rviz file for complete single-robot SLAM experiment
mrpt_graphslam_2d: Use tf2 for all tf transformations. Commit also includes the following:

- Introduction of the "anchor node", that is the frame that (a specific) robot trajectory starts from, which should also differ from the world frame in a multi-robot setup.

- Odometry input messages are expected to be of type nav_msgs::Odometry, instead of the custom msg Pose2DStamped used so far
mrpt_graphslam_2d: Make changes to graphslam.launch file
mrpt_graphslam_2d: Add to the launchfiles
Contributors: Nikos Koukis

0.1.4 (2016-11-06)

Add install targets to CMake.
mrpt_graphslam_2d: Init MR-SLAM configuration Commit adds boilerplate code for:

- Launchfile with nested topic and TF groups for manipulating more robotic agents in a consistent manner
- New .rviz file for MR-SLAM
mrpt_graphslam_2d: queue_size as a private member
mrpt_graphslam_2d: Cleanup CMakeLists file, add catkin_INCLUDE_DIRS
Add demo workspace picture
mrpt_graphslam_2d: Make changes to README instructions and app launchfiles
mrpt_graphslam_2d: Initialize demo folder, Modify README
mrpt_graphslam_2d: Add to the feedback results
mrpt_graphslam_2d: Initialize feedback topics Provide feedback information that can be accessed via ROS Topics. These utilize the CGraphslamEngine API and include the following:
- Latest robot pose
- Estimated path trajectory
mprt_graphslam_2d: Use m_ prefix for class private vars
mrpt_graphslam_2d: Save result files after execution
Add README file.
mrpt_graphslam_2d:Add launchfile, configfile
mrpt_graphslam_2d: Initialize ROS wrapper for mrpt-graphslam Commit includes boilerplate code for running graphSLAM using the mrpt-graphslam library. The following should be noted:

- mrpt_graphslam_2d is heavily based on the native MRPT graphslam-engine_app application.

- graphslam-engine_app command line arguments correspond to parameters in the /graphslam_engine namespace of the ROS parameter server and can be set either by an external launchfile or by dirctly by the user.
Contributors: Logrus, Nikos Koukis

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_bridge
	mrpt_msgs
	tf
	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.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]
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_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

ROS Distro
noetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.1.19
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	ros1
Last Updated	2024-09-18
Dev Status	MAINTAINED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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
Jose Luis Blanco-Claraco

Authors

Nikos Koukis

mrpt_graphslam_2d/README.md

General Information

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):

multi_robot_graphSLAM_short

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.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mrpt_graphslam_2d

0.1.19 (2024-09-18)

Fix cmake target creation
Workaround for missing TBB::tbb target in Noetic
cmake: fix case and whitespaces
Contributors: Jose Luis Blanco-Claraco

0.1.18 (2024-09-05)

Port to new 'mrpt_lib*' packages
Contributors: Jose Luis Blanco-Claraco

0.1.17 (2024-06-05)

Update to fix builds against mrpt>=2.13.0
Contributors: Jose Luis Blanco-Claraco

0.1.16 (2024-03-25)

0.1.15 (2023-08-02)

Fix build errors and warnings with latest mrpt2 versions (Closes: #71)
Contributors: Jose Luis Blanco-Claraco

0.1.14 (2023-04-12)

0.1.13
fix version
changelog
Fix build against last mrpt 2.7.x
chagelogs
Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.1.11 (2022-06-24)

Ported to tf2 and mrpt::ros1bridge
Fix build with mrpt2
Update multimaster_msgs_fkie to fkie_ prefix
Merge branch 'master' of <ssh://github.com/mrpt-ros-pkg/mrpt_slam>
Update URLs to https
Update build dep to mrpt2
Merge pull request #65 from Pillowline/patch-1 setting trajectory publishers to latched
setting trajectory publishers to latched So you can obtain data when running mrpt_graphslam with a bagfile, even after the playback has finished.
Contributors: Jose Luis Blanco-Claraco, Pillowline

0.1.10 (2019-10-05)

fix build against current mrpt2
fix build against mrpt2
Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

0.1.9 (2019-04-14)

Fix build against MRPT 1.9.9
Switch header guards to pragma once
Contributors: Jose Luis Blanco-Claraco, Julian Lopez Velasquez, Vladislav Tananaev

0.1.8 (2018-09-21)

Make catkin_lint clean
Contributors: Jose Luis Blanco Claraco

0.1.7 (2018-09-20)

mrpt_graphslam_2d: Fix compilation warnings
Remove installation of the demo directory from mrpt_graphslam_2d. It doesn't exist, so causes problems at the last stage of cmake. Signed-off-by: Chris Lalancette <<clalancette@openrobotics.org>>
Contributors: Chris Lalancette, Jose Luis Blanco-Claraco, Nikos Koukis

0.1.6 (2018-06-14)

Fixed compilation with MRPT 1.5
Merge pull request #41 from MaxGsomGsom/master Fixed build with mrpt 2.0
Fixed indents
Fixed build with mrpt 2.0
partial fix build w mrpt 2.0
fix build in mrpt 2.0
fix build; add optimized builds (-O3)
fix build against mrpt 1.5 series
Merge pull request #32 from bergercookie/master Correct prev_nodes_ICP error
Correct prev_nodes_ICP member var
mrpt_graphslam_2d: Add link to GitPitch slideshow
mrpt_graphslam_2d: Validate user args in rename_rviz_topics.py
use consistent cmake conventions for c++14
all but mrpt_graphslam_2d compiling against mrpt2.0
porting to mrpt2

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	roscpp
	rospy
	geometry_msgs
	nav_msgs
	std_msgs
	sensor_msgs
	mrpt_libros_bridge
	mrpt_libgui
	mrpt_libapps
	mrpt_msgs
	mrpt_msgs_bridge
	tf2
	tf2_ros
	tf2_geometry_msgs
	fkie_multimaster_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
mrpt_slam

Launch files

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/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.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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

mrpt_graphslam_2d package from mrpt_slam repo

ROS Distrolunar

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Description

Additional information:

Algorithm demonstration

Real-Time demo experiment - short loop

Real-Time experiment - ground-truth data included

Notes:

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

0.1.4 (2016-11-06)

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged mrpt_graphslam_2d at Robotics Stack Exchange

mrpt_graphslam_2d package from mrpt_slam repo

ROS Distrolunar

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Description

Additional information:

Algorithm demonstration

Real-Time demo experiment - short loop

Real-Time experiment - ground-truth data included

Notes:

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

0.1.4 (2016-11-06)

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged mrpt_graphslam_2d at Robotics Stack Exchange

mrpt_graphslam_2d package from mrpt_slam repo

ROS Distrolunar

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Description

Additional information:

Algorithm demonstration

Real-Time demo experiment - short loop

Real-Time experiment - ground-truth data included

Notes:

Changelog for package mrpt_graphslam_2d

0.1.5 (2016-11-18)

0.1.4 (2016-11-06)

0.1.3 (2016-09-27)

0.1.2 (2016-09-24)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

ROS Distro
lunar

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

ROS Distro
lunar

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

ROS Distro
lunar

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

ROS Distro
lunar

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

ROS Distro
lunar

Recent questions tagged `mrpt_graphslam_2d` at Robotics Stack Exchange

ROS Distro
lunar