From 5625fc45d2998fe250ddad2931ce194f9df0f399 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 20 Jun 2023 09:55:55 +0200 Subject: [PATCH] update mapper params --- config/mapper_params_lifelong.yaml | 84 +++++++++++++++ config/mapper_params_localization.yaml | 68 ++++++++++++ config/mapper_params_online_async.yaml | 4 +- config/slam_toolbox_default.rviz | 137 +++++++++++++++++++++++++ 4 files changed, 291 insertions(+), 2 deletions(-) create mode 100644 config/mapper_params_lifelong.yaml create mode 100644 config/mapper_params_localization.yaml create mode 100644 config/slam_toolbox_default.rviz diff --git a/config/mapper_params_lifelong.yaml b/config/mapper_params_lifelong.yaml new file mode 100644 index 0000000..9f241b1 --- /dev/null +++ b/config/mapper_params_lifelong.yaml @@ -0,0 +1,84 @@ + +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + mode: mapping + + # lifelong params + lifelong_search_use_tree: false + lifelong_minimum_score: 0.1 + lifelong_iou_match: 0.85 + lifelong_node_removal_score: 0.04 + lifelong_overlap_score_scale: 0.06 + lifelong_constraint_multiplier: 0.08 + lifelong_nearby_penalty: 0.001 + lifelong_candidates_scale: 0.03 + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + #map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 #was 5.0 + resolution: 0.015 # was 0.05 --> set to 0.015 for 15 mm data resolution according https://de.aliexpress.com/item/1005004178345980.html?gatewayAdapt=glo2deu + max_laser_range: 25 #for rastering images, standard was 20 --> according to datsheet 25m https://de.aliexpress.com/item/1005004178345980.html?gatewayAdapt=glo2deu + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/config/mapper_params_localization.yaml b/config/mapper_params_localization.yaml new file mode 100644 index 0000000..15b64cf --- /dev/null +++ b/config/mapper_params_localization.yaml @@ -0,0 +1,68 @@ +slam_toolbox: + ros__parameters: + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + mode: localization #mapping + + # if you'd like to start localizing on bringup in a map and pose + #map_file_name: test_steve + #map_start_pose: [5.0, 1.0, 0.0] + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 #was 5.0 + resolution: 0.015 # was 0.05 --> set to 0.015 for 15 mm data resolution according https://de.aliexpress.com/item/1005004178345980.html?gatewayAdapt=glo2deu + max_laser_range: 25 #for rastering images, standard was 20 --> according to datsheet 25m https://de.aliexpress.com/item/1005004178345980.html?gatewayAdapt=glo2deu + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 3 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + do_loop_closing: true + loop_match_minimum_chain_size: 3 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + loop_search_maximum_distance: 3.0 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml index 61542fa..6adae36 100644 --- a/config/mapper_params_online_async.yaml +++ b/config/mapper_params_online_async.yaml @@ -19,9 +19,9 @@ slam_toolbox: # if you'd like to immediately start continuing a map at a given pose # or at the dock, but they are mutually exclusive, if pose is given # will use pose - map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial + #map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial # map_start_pose: [0.0, 0.0, 0.0] - map_start_at_dock: true + #map_start_at_dock: true debug_logging: false throttle_scans: 1 diff --git a/config/slam_toolbox_default.rviz b/config/slam_toolbox_default.rviz new file mode 100644 index 0000000..1876cfd --- /dev/null +++ b/config/slam_toolbox_default.rviz @@ -0,0 +1,137 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 154 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" + - Class: slam_toolbox::SlamToolboxPlugin + Name: SlamToolboxPlugin +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000217000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000125000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0100000168000001850000018500ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000017e000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + SlamToolboxPlugin: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 72 + Y: 60 \ No newline at end of file