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Updated demo_hector_mapping.launch with max_range, pm and p2n options. Odometry: added postProcessData() function (used by icp_odometry to republish filtered scan after odometry processing)

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matlabbe
2021-03-20 19:59:38 -04:00
parent d586a8f087
commit 6e34cde8e6
7 changed files with 91 additions and 126 deletions
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launch/demo/demo_hector_mapping.launch
+21 -8
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@@ -1,4 +1,4 @@
<!-- -->
<launch>
<!-- HECTOR MAPPING VERSION: use this with ROS bag demo_mapping_no_odom.bag generated -->
@@ -21,9 +21,15 @@
<!-- Example with camera or not -->
<arg name="camera" default="true" />
<!-- Example with camera or not -->
<!-- Limit lidar range if > 0 (has effect only when hector:=false) -->
<arg name="max_range" default="0" />
<!-- Point to Plane ICP? (has effect only when hector:=false) -->
<arg name="p2n" default="true" />
<!-- Use libpointmatcher for ICP? (has effect only when hector:=false) -->
<arg name="pm" default="true" />
<param name="use_sim_time" type="bool" value="True"/>
@@ -67,13 +73,18 @@
<param if="$(arg odom_guess)" name="odom_frame_id" type="string" value="icp_odom"/>
<param if="$(arg odom_guess)" name="guess_frame_id" type="string" value="odom"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0.05"/>
<param name="Icp/RangeMax" type="string" value="$(arg max_range)"/>
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PointToPlaneK" type="string" value="5"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0.3"/>
<param unless="$(arg odom_guess)" name="Icp/MaxTranslation" type="string" value="0"/> <!-- can be set to reject large ICP jumps -->
<param if="$(arg p2n)" name="Icp/PointToPlane" type="string" value="true"/>
<param if="$(arg p2n)" name="Icp/PointToPlaneK" type="string" value="5"/>
<param if="$(arg p2n)" name="Icp/PointToPlaneRadius" type="string" value="0.3"/>
<param unless="$(arg p2n)" name="Icp/PointToPlane" type="string" value="false"/>
<param unless="$(arg p2n)" name="Icp/PointToPlaneK" type="string" value="0"/>
<param unless="$(arg p2n)" name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="0.1"/>
<param name="Icp/PM" type="string" value="true"/> <!-- use libpointmatcher to handle PointToPlane with 2d scans-->
<param name="Icp/PM" type="string" value="$(arg pm)"/> <!-- use libpointmatcher to handle PointToPlane with 2d scans-->
<param name="Icp/PMOutlierRatio" type="string" value="0.85"/>
<param name="Odom/Strategy" type="string" value="0"/>
<param name="Odom/GuessMotion" type="string" value="true"/>
@@ -116,6 +127,8 @@
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.2"/>
<param name="Icp/VoxelSize" type="string" value="0.05"/>
<param name="Icp/RangeMax" type="string" value="$(arg max_range)"/>
<param name="Grid/RangeMax" type="string" value="$(arg max_range)"/>
</node>
<!-- Visualisation RTAB-Map -->