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https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-27 01:20:55 +00:00
added slam_toolbox localization option
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67
config/mapper_params_localization.yaml
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67
config/mapper_params_localization.yaml
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slam_toolbox:
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ros__parameters:
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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# ROS Parameters
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odom_frame: odom
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map_frame: map
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base_frame: base_footprint
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scan_topic: /scan
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mode: mapping #localization
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# if you'd like to start localizing on bringup in a map and pose
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#map_file_name: test_steve
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#map_start_pose: [5.0, 1.0, 0.0]
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debug_logging: false
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throttle_scans: 1
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transform_publish_period: 0.02 #if 0 never publishes odometry
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map_update_interval: 5.0
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resolution: 0.05
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max_laser_range: 8.0 #for rastering images
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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tf_buffer_duration: 30.
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stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
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# General Parameters
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use_scan_matching: true
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use_scan_barycenter: true
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minimum_travel_distance: 0.5
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minimum_travel_heading: 0.5
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scan_buffer_size: 3
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scan_buffer_maximum_scan_distance: 10.0
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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do_loop_closing: true
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loop_match_minimum_chain_size: 3
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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# Correlation Parameters - Correlation Parameters
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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# Correlation Parameters - Loop Closure Parameters
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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loop_search_maximum_distance: 3.0
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# Scan Matcher Parameters
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349
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coarse_search_angle_offset: 0.349
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coarse_angle_resolution: 0.0349
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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use_response_expansion: true
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51
launch/robot_mapping_localization.launch.py
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launch/robot_mapping_localization.launch.py
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# Copyright 2022 Factor Robotics
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.actions import LifecycleNode
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from launch_ros.descriptions import ParameterValue
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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use_sim_time = False
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slam_params_file = PathJoinSubstitution(
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[
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FindPackageShare("cps_rmp220_support"),
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"config",
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"mapper_params_localization.yaml"
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]
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)
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namespace = "/rmp"
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localization_node = Node(
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package="slam_toolbox",
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executable="localization_slam_toolbox_node",
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name='slam_toolbox',
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output='screen',
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parameters=[
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slam_params_file,
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{'use_sim_time': use_sim_time}
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],
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#namespace = namespace,
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#remappings=[('/scan', 'scan'), ('/map', 'map')],
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)
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return LaunchDescription([
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localization_node
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])
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