update

2023-10-02 15:25:01 +00:00
5 changed files with 7 additions and 295 deletions
--- a/README.md
+++ b/README.md
@ -1 +1,2 @@
 # bot_mini_bringup
+test
--- a/config/mapper_params_lifelong.yaml
+++ b/config/mapper_params_lifelong.yaml
@ -1,84 +0,0 @@
-
-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
--- a/config/mapper_params_localization.yaml
+++ b/config/mapper_params_localization.yaml
@ -1,68 +0,0 @@
-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
--- a/config/mapper_params_online_async.yaml
+++ b/config/mapper_params_online_async.yaml
@ -14,21 +14,21 @@ slam_toolbox:
    map_frame: map
    base_frame: base_footprint
    scan_topic: /scan
-    mode: mapping # was localization
+    mode: localization

    # 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
    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
+    map_update_interval: 1.0 #was 5.0
+    resolution: 0.05
+    max_laser_range: 200.0 #for rastering images, standard was 20
    minimum_time_interval: 0.5
    transform_timeout: 0.2
    tf_buffer_duration: 30.
--- a/config/slam_toolbox_default.rviz
+++ b/config/slam_toolbox_default.rviz
@ -1,137 +0,0 @@
-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: <Fixed 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: <Fixed 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