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Adaptive Monte Carlo Localization (AMCL) in 3D.

License: Apache License 2.0

CMake 7.39% C++ 92.61%

amcl3d's Introduction

amcl3d

Overview

This is a package is a "Adaptive Monte-Carlo Localization in 3D".

It is a particle filter that estimates the localization of a robot moving in a 3D environment without using GPS.

It takes information from an odometry source, point-clouds from an onboard sensor (e.g. laser) and distance measurements from radio-range sensors.

License

Apache 2.0

Author: Paloma Carrasco Fern�ndez ([email protected]), Francisco Cuesta Rodr�guez ([email protected]), Francisco J.Perez-Grau ([email protected])

Affiliation: FADA-CATEC

Maintainer: Paloma Carrasco Fern�ndez ([email protected]), Francisco Cuesta Rodr�guez ([email protected])

The amcl3d package has been tested under [ROS] Kinetic and Ubuntu 16.04.

Publications

If you want more information about the algorithm or use this work in your project, please check and cite the following publication:

Francisco J.Perez-Grau, Fernando Caballero, Antidio Viguria and Anibal Ollero:

Multi-sensor 3D Monte Carlo Localization (MCL) for long-term aerial robot navigation, 2017

Detailed Description

To know in more detail the behavior of the package:

amcl3d (Wiki-ROS)

Demostration Video

Installation

Building from Source

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

 cd catkin_workspace/src
 git clone https://github.com/fada-catec/amcl3d.git
 cd ../
 catkin build

Launch files

amcl3d.launch: it contains the start of amcl3d node with a standard configuration of parameters.
```
    roslaunch amcl3d amcl3d.launch
```
amcl3d_rosin.launch: it contains the initial pose, particle number, 'alpha' parameter, 'take_off_height' parameter and the correctly map to run the algorithm with the correcly data of the rosbag.
```
  roslaunch amcl3d amcl3d_rosin.launch
```

Gmoke Tests

This branch contains differents tests to evaluate the correct behaviour of the algorithm. To run these tests it is necessary to have the rosbag of the 'Version 1.1.0' release.

 To compile:

      catkin_make tests

 To run:

      rosrun amcl3d amcl3d_tests

Doxygen

The code has been commentes to offert the posibility to generate a Doxygen documentation. To generate it:

 rosdoc_lite /path/to/workspace/src/amcl3d/amcl3d

To install the rosdoc_lite package:

 apt-get install ros-kinetic-rosdoc_lite

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.

Acknowledgement

Supported by ROSIN - ROS-Industrial Focused Technical Projects (FTP).
More information: rosin-project.eu

amcl3d's People

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amcl3d's Issues

Unable to get amcl3d_node working

I'm trying to get the pose of my UAV using amcl3d and also simultaneously trying to get the pose info using p3d gazebo plugin.

When I try to echo about the topic /amcl3d_node/range is get the following error. The error is same for other amcl3d topics as well.

rostopic echo /amcl3d_node/range
WARNING: no messages received and simulated time is active.
Is /clock being published?

Then I tried to get info about the amcl3d_node, I get the following error.

rosnode info /amcl3d_node
--------------------------------------------------------------------------------
Node [/amcl3d_node]
Publications: None

Subscriptions: None

Services: None


contacting node http://DELL:34421/ ...
ERROR: Communication with node[http://DELL:34421/] failed!

Our launch file looks like this

<?xml version="1.0" encoding="UTF-8"?>
<launch>

  <arg name="world" default="empty"/> 
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <param name="use_sim_time" value="true"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find drone_gazebo)/worlds/drone_wall"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
    <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/>

      <arg name="x" default="0.0"/>
      <arg name="y" default="0.0"/>
      <arg name="z" default="0.3"/>
  </include>

  <!-- Visualization -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find amcl3d)/rviz/amcl3d.rviz"/>

  <include file="$(find amcl3d)/launch/amcl3d.launch">
    <arg name="map_name_path"   value="$(find amcl3d)/tests/data/mapfile_wrong.bt"/>
    <arg name="init_x"          value="0"/>
    <arg name="init_y"          value="0"/>
    <arg name="init_z"          value="0"/>
    <arg name="init_a"          value="-0.043"/>
    <arg name="num_particles"   value="600"/>
    <arg name="alpha"           value="0.5"/>
    <arg name="take_off_height" value="1.3"/>
  </include>
</launch>

We checked all the paths and there is no problem with that.

ROS version: Melodic
amcl3d: installed from source
hector_quadrotor: installed from source

Unable to run amcl3d_tests

Hello, when I use "rosrun amcl3d amcl3d_tests", there are such error.

"
ERROR: Binary file does not contain an OcTree!
ERROR: First line of OcTree file header does not start with "# Octomap OcTree binary file"
"

Is there a demo?

Hello,

Thanks for your outstanding work. I have successfully built this project. And I find there is data folder, but the data seems to be incomplete. So is there some demo data?

Would it be possible to share an example bag for this repository? Given that this is the "official" ROS repo for AMCL 3D, I was expecting it to be more straightforward to get this to run, but it isn't quite obvious.
I feel like my issues should be fixed just with an input bag, as that gives a lot of info on how to setup my data and tf tree to get this repository to work.
I would greatly appreciate if a bag could be shared

Cannot link libraries for target and GMock

Dear Colleagues,

I'm having trouble building this in my catkin workspace. I've successfully installed and built octomap_ros and octomap_msgs, but now I'm confronting this error message:

  Could not find a package configuration file provided by "GMock" with any of
  the following names:

    GMockConfig.cmake
    gmock-config.cmake

  Add the installation prefix of "GMock" to CMAKE_PREFIX_PATH or set
  "GMock_DIR" to a directory containing one of the above files.  If "GMock"
  provides a separate development package or SDK, be sure it has been
  installed.


CMake Error at /home/user/catkin_ws/src/amcl3d/amcl3d/CMakeLists.txt:55 (target_link_libraries):
  Cannot specify link libraries for target
  "/home/user/catkin_ws/devel/lib/liboctomap.so" which is not built by this
  project.

I have noticed that GMock is now googletest https://github.com/google/googletest, which appears to be split into googlemock and googletest. I don't know what the old GMock package looked like, so I'm not sure how to modify the amcl3d/CMakeLists.txt file appropriately.

I installed octomap with sudo apt-get install ros-melodic-octomap, per the ros octomap page https://wiki.ros.org/octomap and modified the amcl3d/CMakeLists.txt and package.xml per the instructions on that ros page.

I would appreciate any help.

Thanks, Mark

Trouble generating occupancy grid

Hi! I'm having some trouble generating my occupancy grid. The program gets stuck on the "Computing 3D occupancy grid. This will take some time..." info prompt for about an hour. After which it tells me that the that the process has died. I generate the map.ot with the help of octomap_server and LeGO-LOAM. Does anyone have any advice on what I could do?

We need the noetic version :)

I think my title is clear