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Merge pull request #12 from norlab-ulaval/mapper-yaml-config-file
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Adapt the wrapper to new mapper configuration
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@simonpierredeschenes
simonpierredeschenes authored Jun 14, 2024
2 parents 1a1dc7f + 6e710ff commit b9bf128
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4 changes: 2 additions & 2 deletions CMakeLists.txt
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Expand Up @@ -13,8 +13,8 @@ find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(libpointmatcher_ros REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(libpointmatcher REQUIRED)
find_package(norlab_icp_mapper REQUIRED)
find_package(libpointmatcher CONFIG 1.4.2 REQUIRED)
find_package(norlab_icp_mapper CONFIG 2.0.0 REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
"srv/SaveTrajectory.srv"
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59 changes: 22 additions & 37 deletions README.md
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# norlab_icp_mapper_ros
A bridge between norlab_icp_mapper and ROS.
A bridge between [norlab_icp_mapper](https://github.com/norlab-ulaval/norlab_icp_mapper/) and ROS.
Check the [mapper's documentation](https://norlab-icp-mapper.readthedocs.io/en/latest/UsingInRos/) for a detailed guide.

## Node Parameters
| Name | Description | Possible values | Default Value |
| :-------------------------------: | :---------------------------------------------------------------------------------------------------------: | :------------------------------: | :--------------------------------------------------------: |
| odom_frame | Frame used for odometry. | Any string | "odom" |
| robot_frame | Frame centered on the robot. | Any string | "base_link" |
| initial_map_file_name | Path of the file from which the initial map is loaded. | Any file path | "" |
| initial_robot_pose | Transformation matrix in homogeneous coordinates describing the initial pose of the robot in the map frame. | Any matrix of dimension 3 or 4 | "[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]" |
| final_map_file_name | Path of the file in which the final map is saved when is_online is false. | Any file path | "map.vtk" |
| final_trajectory_file_name | Path of the file in which the final trajectory is saved when is_online is false. | Any file path | "trajectory.vtk" |
| icp_config | Path of the file containing the libpointmatcher icp config. | Any file path | "" |
| input_filters_config | Path of the file containing the filters applied to the sensor points. | Any file path | "" |
| map_post_filters_config | Path of the file containing the filters applied to the map after the update. | Any file path | "" |
| map_update_condition | Condition for map update. | {"overlap", "delay", "distance"} | "overlap" |
| map_update_overlap | Overlap between sensor and map points under which the map is updated. | [0, 1] | 0.9 |
| map_update_delay | Delay since last map update over which the map is updated (in seconds). | [0, ∞) | 1.0 |
| map_update_distance | Euclidean distance from last map update over which the map is updated (in meters). | [0, ∞) | 0.5 |
| map_publish_rate | Rate at which the map is published (in Hertz). It can be slower depending on the map update rate. | (0, ∞) | 10.0 |
| map_tf_publish_rate | Rate at which the map tf is published (in Hertz). | (0, ∞) | 10.0 |
| max_idle_time | Delay to wait being idle before shutting down ROS when is_online is false (in seconds). | [0, ∞) | 10.0 |
| min_dist_new_point | Distance from current map points under which a new point is not added to the map (in meters). | [0, ∞) | 0.03 |
| sensor_max_range | Maximum reading distance of the laser (in meters). | [0, ∞) | 80.0 |
| prior_dynamic | A priori probability of points being dynamic. | [0, 1] | 0.6 |
| threshold_dynamic | Probability at which a point is considered permanently dynamic. | [0, 1] | 0.9 |
| beam_half_angle | Half angle of the cones formed by the sensor laser beams (in rad). | [0, π/2] | 0.01 |
| epsilon_a | Error proportional to the sensor distance. | [0, ∞) | 0.01 |
| epsilon_d | Fix error on the sensor distance (in meters). | [0, ∞) | 0.01 |
| alpha | Probability of staying static given that the point was static. | [0, 1] | 0.8 |
| beta | Probability of staying dynamic given that the point was dynamic. | [0, 1] | 0.99 |
| is_3D | true when a 3D sensor is used, false when a 2D sensor is used. | {true, false} | true |
| is_online | true when online mapping is wanted, false otherwise. | {true, false} | true |
| compute_prob_dynamic | true when computation of probability of points being dynamic is wanted, false otherwise. | {true, false} | false |
| is_mapping | true when map updates are wanted, false when only localization is wanted. | {true, false} | true |
| save_map_cells_on_hard_drive | true when map cell storage on hard drive is wanted, false when map cell storage in RAM is wanted. | {true, false} | true |
| publish_tfs_between_registrations | When false, the map tf is published only after registration. Otherwise with map_tf_publish_rate. | {true, false} | true |
| Name | Description | Possible values | Default Value |
|:---------------------------------:|:-----------------------------------------------------------------------------------------------------------:|:------------------------------:|:----------------------------------------------------------:|
| odom_frame | Frame used for odometry. | Any string | "odom" |
| robot_frame | Frame centered on the robot. | Any string | "base_link" |
| mapping_config | Path to the file containing the mapping config. | Any file path | "" |
| initial_map_file_name | Path of the file from which the initial map is loaded. | Any file path | "" |
| initial_robot_pose | Transformation matrix in homogeneous coordinates describing the initial pose of the robot in the map frame. | Any matrix of dimension 3 or 4 | "[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]" |
| final_map_file_name | Path of the file in which the final map is saved when is_online is false. | Any file path | "map.vtk" |
| final_trajectory_file_name | Path of the file in which the final trajectory is saved when is_online is false. | Any file path | "trajectory.vtk" |
| map_publish_rate | Rate at which the map is published (in Hertz). It can be slower depending on the map update rate. | (0, ∞) | 10.0 |
| map_tf_publish_rate | Rate at which the map tf is published (in Hertz). | (0, ∞) | 10.0 |
| max_idle_time | Delay to wait being idle before shutting down ROS when is_online is false (in seconds). | [0, ∞) | 10.0 |
| is_mapping | true when map updates are wanted, false when only localization is wanted. | {true, false} | true |
| is_online | true when online mapping is wanted, false otherwise. | {true, false} | true |
| is_3D | true when a 3D sensor is used, false when a 2D sensor is used. | {true, false} | true |
| save_map_cells_on_hard_drive | true when map cell storage on hard drive is wanted, false when map cell storage in RAM is wanted. | {true, false} | true |
| publish_tfs_between_registrations | When false, the map tf is published only after registration. Otherwise with map_tf_publish_rate. | {true, false} | true |


## Node Topics
| Name | Description |
| :-------: | :-------------------------------------------------: |
|:---------:|:---------------------------------------------------:|
| points_in | Topic from which the input points are retrieved. |
| map | Topic in which the map is published. |
| icp_odom | Topic in which the corrected odometry is published. |

## Node Services
| Name | Description | Parameter Name | Parameter Description |
| :----------------: | :---------------------------: | :------------: | :------------------------------------------------: |
|:------------------:|:-----------------------------:|:--------------:|:--------------------------------------------------:|
| save_map | Saves the current map. | filename | Path of the file in which the map is saved. |
| save_trajectory | Saves the current trajectory. | filename | Path of the file in which the trajectory is saved. |
| reload_yaml_config | Reload all YAML config files. | | |
| reload_yaml_config | Reload the YAML config file. | | |

## Mapper Node Graph

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2 changes: 1 addition & 1 deletion package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>norlab_icp_mapper_ros</name>
<version>0.0.1</version>
<version>2.0.0</version>
<description>A bridge between norlab_icp_mapper and ROS.</description>
<maintainer email="[email protected]">Simon-Pierre Deschenes</maintainer>
<license>new BSD</license>
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