this is a ros2 slam package of the frontend using gicp/ndt scan matching and the backend using graph-based slam.
Green: with loopclosure, Yellow: without loopclosure
You need to clone ndt_omp_ros2 for scan-matcher
git clone https://github.com/rsasaki0109/ndt_omp_ros2
and clone g2o for graph-based-slam in /src directry
git clone https://github.com/RainerKuemmerle/g2o
- input
/initial_pose (geometry_msgs/PoseStamed)
/input_cloud (sensor_msgs/PointCloud2)
/tf(from "base_link" to LiDAR's frame)
/imu (sensor_msgs/Imu)(optional) - output
/current_pose (geometry_msgs/PoseStamped)
/map (sensor_msgs/PointCloud2)
/path (nav_msgs/Path)
/tf(from "map" to "base_link")
/map_array(graphslam_ros2_msgs/MapArray)
- input
/map_array(graphslam_ros2_msgs/MapArray) - output
/modified_map_array(graphslam_ros2_msgs/MapArray)
/modified_path (nav_msgs/Path)
/modified_map (sensor_msgs/PointCloud2)
,and pose_graph.g2o and map.pcd are saved in loop closing.
- frontend(scan-matcher)
| Name | Type | Default value | Description |
|---|---|---|---|
| registration_method | string | "NDT" | "NDT" or "GICP" |
| ndt_resolution | double | 5.0 | resolution size of voxels[m] |
| ndt_num_threads | int | 0 | threads using ndt(if 0 is set, maximum alloawble threads are used.) |
| trans_for_mapupdate | double | 1.5 | moving distance of map update[m] |
| vg_size_for_input | double | 0.2 | down sample size of input cloud[m] |
| vg_size_for_map | double | 0.05 | down sample size of map cloud[m] |
| use_imu_rpy | bool | false | whether imu is used or not for initial attitude of ndt |
- backend(graph-based-slam)
| Name | Type | Default value | Description |
|---|---|---|---|
| ndt_resolution | double | 5.0 | resolution size of voxels[m] |
| voxel_leaf_size | double | 0.2 | down sample size of input cloud[m] |
| loop_detection_period | int | 1000 | period of serching loop detection[ms] |
| threshold_loop_clousure_score | double | 1.0 | fitness score of ndt for loop clousure |
| distance_loop_clousure | double | 20.0 | distance far from revisit candidates for loop clousure[m] |
| range_of_searching_loop_clousure | double | 20.0 | range of sezrching revisit candidates for loop clousure[m] |
demo data(ROS1) is hdl_400.bag in hdl_graph_slam
rviz2 -d src/graphslam_ros2/scanmatcher/config/mapping.rviz
ros2 launch graphslam_main main.launch.py
ros2 topic pub initial_pose geometry_msgs/PoseStamped '{header: {frame_id: "map"}, pose: {position: {x: 0, y: 0}, orientation: {z: 0, w: 1}}}' --once
ros2 bag play -s rosbag_v2 hdl_400.bag
Green: with loopclosure, Yellow: without loopclosure
- car_mapping
demo data(ROS1) by Autoware Foundation
wget http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz
tar zxfv sample_moriyama_150324.tar.gz
rviz2 -d src/graphslam_ros2/scanmatcher/config/mapping.rviz
ros2 launch scanmatcher mapping_car.launch.py
ros2 topic pub initial_pose geometry_msgs/PoseStamped '{header: {frame_id: "map"}, pose: {position: {x: 0, y: 0}, orientation: {z: 0, w: 1}}}' --once
ros2 bag play -s rosbag_v2 sample_moriyama_150324.bag
Yellow: without loopclosure
- mobilerobot_mapping
demo data(ROS1) is hdl_400.bag in hdl_graph_slam
rviz2 -d src/graphslam_ros2/scanmatcher/config/mapping.rviz
ros2 launch scanmatcher mapping_robot.launch.py
ros2 topic pub initial_pose geometry_msgs/PoseStamped '{header: {frame_id: "map"}, pose: {position: {x: 0, y: 0}, orientation: {z: 0, w: 1}}}' --once
ros2 bag play -s rosbag_v2 hdl_400.bag
Yellow: without loopclosure
- Eigen
- PCL(BSD3)
- g2o(BSD2 except a part)
- ndt_omp (BSD2)
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