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rtabmap_demos tests and docs (#1462)

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* rtabmap_demos tests and docs

* added bag testing

* added rtabmap_examples launch tests

* updating demo bag download paths

* added netherdrone demo

* Fixed rgb-only callback with lidar rejected.  Updated lidar params

* Added back OrbitOriented rviz view to ros2, with optional octomap wll clipping

* fixing ci

* lidar demo added intermediate_nodes option

* added netherdrone as demo test

* running rtabmap_demos tests on ci

* added rtabmap_launch tests, fixed ground_truth_base_frame_id usage

* ficing rolling

* updating demo test harnest

* densify golden trajectories to avoid tf missing

* fixing tf steps

* updated min icp ratio for netherdrone demo

* fixing image_transport arg->params

* export pose opt=0

* lets process all frames

* updated netherdrone golden

* fixing publishers queue size just for tests

* added playdback demo doc

* Adding more logs to debug ci

* Fixing QOS for CI to reliable, added find-object demo test

* name threads

* fixing camera info expected transient on lyrical/rolling. Fixing find_object not appearing idle

* 30 Hz polling backward comp

* fixing test tf sim lock

* fixing lyrical qos bag parsing

* faster replay

* lockstep

* fixing clock deadlock

* Added test on shutdown

* updated netherdrone golden poses

* Extended stereo outdoor test

* updated shutdown test

* updated test

* multi-thread flaky test

* adding backtrace when test fails

* increased closure slack for netherdrone

* g2o gauss newton on stereo

* adjusted maximum optimizer iterations

* updated default iterations

* Added netherdrone in list of demos
This commit is contained in:
matlabbe
2026-10-10 12:23:49 -07:00
committed by GitHub
parent cb2117f1ed
commit 82f0754bf7
80 changed files with 18405 additions and 98 deletions
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.github/workflows/ros2.yml
+85 -12
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@@ -25,30 +25,36 @@ jobs:
include:
- ros_distro: humble
skip_keys: ''
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python'
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
- ros_distro: jazzy
skip_keys: ''
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python'
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
- ros_distro: kilted
skip_keys: 'grid_map_ros'
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python'
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
- ros_distro: lyrical
skip_keys: 'velodyne grid_map_ros libpointmatcher'
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python'
skip_keys: 'velodyne grid_map_ros libpointmatcher find_object_2d'
packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
- ros_distro: rolling
# Rolling has moved to Ubuntu resolute and much of it has not been rebuilt for
# that yet, so rosdep finds nothing to install for these. They are all optional
# to rtabmap, which just builds without them.
skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros'
# to rtabmap, which just builds without them. nav2 is missing from resolute
# too: optional to rtabmap_slam (nav2_msgs) and to the demos (nav2_bringup, for
# the navigation demos only), but not to rtabmap_costmap_plugins, so it and the
# rtabmap_ros metapackage, which pulls it in, are not built.
skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros nav2_msgs nav2_bringup nav2_costmap_2d find_object_2d'
use_ros2_testing: true # Rolling is using ros2-testing (nightly)
# nav2 is missing from resolute too, and it is not optional: rtabmap_slam and
# rtabmap_costmap_plugins need it to compile at all, and the rtabmap_ros
# metapackage pulls both in. So rolling names the packages it can build.
packages: 'rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
packages: 'rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
fail-fast: false
timeout-minutes: 180
container:
image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
steps:
env:
# Absolute and inside the container: ${{ github.workspace }} would be the
# runner's path, not the container's.
RTABMAP_DEMOS_TEST_DATA: /rtabmap_demos_test_data
RTABMAP_DEMOS_TEST_RESULTS: /rtabmap_demos_test_results
steps:
- uses: actions/checkout@v4
- uses: ros-tooling/[email protected]
with:
@@ -61,9 +67,76 @@ jobs:
- run: |
echo "repositories:\n introlab/rtabmap:\n type: git\n url: https://github.com/introlab/rtabmap.git\n version: master\n" > /tmp/deps.repos &&\
cat /tmp/deps.repos
# Build only: the tests are run below, the quick ones first, so that a failing unit
# test shows before the demos' playback, which takes tens of minutes.
- uses: ros-tooling/[email protected]
with:
package-name: ${{ matrix.packages }}
target-ros2-distro: ${{ matrix.ros_distro }}
vcs-repo-file-url: /tmp/deps.repos
rosdep-skip-keys: "${{ matrix.skip_keys }}"
skip-tests: true
- name: Unit tests
working-directory: ros_ws
shell: bash
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
source install/setup.bash
colcon test --packages-select ${{ matrix.packages }} \
--event-handlers console_cohesion+ --ctest-args -E test_demo_playback
colcon test-result --verbose
# The demos' playback (rtabmap_demos/test/test_demo_playback.py) replays bags that
# are assets of the rtabmap_ros GitHub releases, listed with their SHA-256 in
# rtabmap_demos/test/data/manifest.txt. As rtabmap's own CI does with its test
# databases (cmake-ros.yml), they are cached between runs, keyed on that manifest
# only: every distro shares one entry, and a new or changed bag there fetches again.
- name: Restore test data
id: cache-testdata
uses: actions/cache@v4
with:
path: /rtabmap_demos_test_data
key: rtabmap-demos-test-data-${{ hashFiles('rtabmap_demos/test/data/manifest.txt') }}
- name: Fetch test data
if: steps.cache-testdata.outputs.cache-hit != 'true'
shell: bash
run: bash rtabmap_demos/test/fetch_test_data.sh
# Without its bag, a scenario skips itself and the step would pass having replayed
# nothing: check that every bag of the manifest is there.
- name: Check test data
shell: bash
run: |
missing=0
while IFS=$'\t' read -r name url sha extracted; do
[[ -z "${name// }" || "$name" =~ ^# ]] && continue
file="$RTABMAP_DEMOS_TEST_DATA/${extracted:-$name}"
if [[ ! -f "$file" ]]; then
echo "::error::$file is missing (from $url)"
missing=1
fi
done < rtabmap_demos/test/data/manifest.txt
exit $missing
# The golden graphs were made with humble: each scenario's tolerances
# (test_demo_playback.py) absorb small differences between distros.
- name: Demo playback tests
working-directory: ros_ws
shell: bash
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
source install/setup.bash
colcon test --packages-select rtabmap_demos \
--event-handlers console_cohesion+ --ctest-args -R test_demo_playback
colcon test-result --verbose --test-result-base build/rtabmap_demos
# Each scenario's launch log, graph and database, to see what went wrong.
- name: Upload the playback results
if: failure()
uses: actions/upload-artifact@v4
with:
name: demo-playback-results-${{ matrix.ros_distro }}
path: /rtabmap_demos_test_results
retention-days: 7
README.md
+3 -1
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@@ -125,7 +125,9 @@ export RCUTILS_COLORIZED_OUTPUT=1
```
## Recommended DDS
If RTAB-Map's GUI or topic frequency feel laggy (even if processing time looks fast enough), it may be caused by the DDS. I recommend to use [Cyclone DDS](https://docs.ros.org/en/jazzy/Installation/RMW-Implementations/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files (or add to your `.bashrc`):
If RTAB-Map's GUI or topic frequency feel laggy (even if processing time looks fast enough), or messages seem to get lost, it may be caused by the DDS. By default (`qos` parameters set to `0`), RTAB-Map's nodes subscribe with the DDS's own default reliability, and that differs between them: Cyclone DDS subscribes reliably, while Fast DDS, the default DDS of ROS 2 (still with Lyrical), subscribes in best effort. In best effort, a large message (image, point cloud) arriving while a node is still busy with the previous one can be dropped, without any warning.
With Fast DDS, you can make RTAB-Map's nodes subscribe reliably with their `qos` parameters set to `1` (e.g., `qos:=1` with `rtabmap.launch.py`). Otherwise, I recommend to use [Cyclone DDS](https://docs.ros.org/en/jazzy/Installation/RMW-Implementations/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files (or add to your `.bashrc`):
```bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# Cyclone prefers multicast by default, if your router got too much spammed,
rtabmap_conversions/src/MsgConversion.cpp
+31
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_conversions/PointCloudConversion.h>
#include "rtabmap_conversions/MsgConversion.h"
#include <algorithm>
#include <cmath>
#include <limits>
@@ -2148,6 +2149,36 @@ bool convertRGBDMsgs(
(cameraInfoMsgs.size() == depthMsgs.size() || depthMsgs.empty()) &&
(cameraInfoMsgs.size() == depthCameraInfoMsgs.size() || depthCameraInfoMsgs.empty()));
// An RGBDImage of a camera without depth (e.g., from rgb_sync) has an empty depth
// slot, which reaches here as empty depth images: convert the frame as color only,
// rather than as a stereo pair missing its right image.
if(!depthMsgs.empty() &&
std::all_of(depthMsgs.begin(), depthMsgs.end(),
[](const cv_bridge::CvImageConstPtr & msg) { return msg.get() == 0 || msg->image.empty(); }))
{
return convertRGBDMsgs(
imageMsgs,
std::vector<cv_bridge::CvImageConstPtr>(),
cameraInfoMsgs,
std::vector<sensor_msgs::msg::CameraInfo>(),
frameId,
odomFrameId,
odomStamp,
rgb,
depth,
cameraModels,
stereoCameraModels,
tfBuffer,
waitForTransform,
alreadRectifiedImages,
localKeyPointsMsgs,
localPoints3dMsgs,
localDescriptorsMsgs,
localKeyPoints,
localPoints3d,
localDescriptors);
}
int imageWidth = imageMsgs.size()?imageMsgs[0]->image.cols:cameraInfoMsgs[0].width;
int imageHeight = imageMsgs.size()?imageMsgs[0]->image.rows:cameraInfoMsgs[0].height;
int depthWidth = depthMsgs.size()?depthMsgs[0]->image.cols:0;
rtabmap_conversions/test/test_msg_conversion.cpp
+37
View File
@@ -3048,6 +3048,43 @@ TEST(MsgConversion, convertRGBDMsgsSingleCamera)
EXPECT_EQ(depth.at<unsigned short>(0, 0), 1500);
}
// A camera without depth, through an RGBDImage as rgb_sync publishes it: the depth slot
// is left empty, and toCvShare() turns it into an empty depth image. The frame must
// come out as color only, not be rejected as a stereo pair without a right image.
TEST(MsgConversion, convertRGBDMsgsColorOnlyRGBDImage)
{
const std::shared_ptr<tf2_ros::Buffer> buffer = makeTfBuffer();
const rtabmap::Transform baseToCamera(0.1f, 0.0f, 0.2f, 0.0f, 0.0f, 0.0f);
addTf(*buffer, "base_link", "camera_link", baseToCamera, 1000.0);
const cv::Mat rgbImage(8, 8, CV_8UC3, cv::Scalar(10, 20, 30));
rtabmap_msgs::msg::RGBDImage rgbdImage;
rgbdImage.header = makeImage("camera_link", 1000.0, rgbImage, "bgr8")->header;
makeImage("camera_link", 1000.0, rgbImage, "bgr8")->toImageMsg(rgbdImage.rgb);
rgbdImage.rgb_camera_info = makeCameraInfo("camera_link", 1000.0, 8, 8);
cv_bridge::CvImageConstPtr image, depthImage;
toCvShare(rgbdImage, std::shared_ptr<void const>(), image, depthImage);
ASSERT_TRUE(depthImage.get() != 0);
ASSERT_TRUE(depthImage->image.empty()) << "an RGBDImage without depth gives an empty depth image";
cv::Mat rgb, depth;
std::vector<rtabmap::CameraModel> models;
std::vector<rtabmap::StereoCameraModel> stereoModels;
ASSERT_TRUE(convertRGBDMsgs({image}, {depthImage}, {rgbdImage.rgb_camera_info},
{rgbdImage.depth_camera_info}, "base_link", "",
timestampToROS(1000.0), rgb, depth, models, stereoModels,
*buffer, 0.0, /*alreadyRectifiedImages=*/true));
EXPECT_TRUE(stereoModels.empty());
ASSERT_EQ(models.size(), 1u);
EXPECT_NEAR(models[0].fx(), 100.0, 1e-9);
expectTransformNear(models[0].localTransform(), baseToCamera, 1e-4f);
ASSERT_EQ(rgb.cols, 8);
ASSERT_EQ(rgb.rows, 8);
EXPECT_TRUE(depth.empty());
}
TEST(MsgConversion, convertRGBDMsgsMultiCameraSideBySide)
{
// Two cameras are concatenated horizontally into one wide image, one model each.
rtabmap_demos/CMakeLists.txt
+22
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@@ -6,5 +6,27 @@ find_package(ament_cmake REQUIRED)
install(DIRECTORY launch config params data
DESTINATION share/${PROJECT_NAME}
)
# find_object_2d's detections as landmarks, for find_object_demo.launch.py.
install(PROGRAMS scripts/find_object_to_landmarks.py
DESTINATION lib/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)
# rtabmap_launch's launch file test, on this package's installed launch files: each
# dry-run with each of its switches; nothing is started, so it needs no DDS domain of its
# own. Run from where rtabmap_launch installed it: no pytest cache written there.
find_package(rtabmap_launch REQUIRED)
ament_add_pytest_test(test_launch_files ${rtabmap_launch_DIR}/../test/test_launch_files.py
ENV RTABMAP_LAUNCH_TEST_PACKAGE=${PROJECT_NAME} "PYTEST_ADDOPTS=-p no:cacheprovider"
TIMEOUT 900)
# Replays the demo bags through the demo launch files and compares the graphs with
# test/golden. Skipped unless the bags were fetched (test/fetch_test_data.sh). The
# demos' nodes talk over DDS, so it gets a domain of its own; see rtabmap_slam's for
# the other packages' ranges.
ament_add_pytest_test(test_demo_playback test/test_demo_playback.py
ENV ROS_DOMAIN_ID=110
TIMEOUT 7200)
endif()
ament_package()
rtabmap_demos/README.md
+21
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@@ -1,4 +1,7 @@
# rtabmap_demos
Ready-to-run demos of RTAB-Map. Each launch file sets up a complete pipeline for one of the demo bags or one simulated robot, so you can watch RTAB-Map map, close loops and navigate without any hardware. The bags can be downloaded from the [0.23.13 release](https://github.com/introlab/rtabmap_ros/releases/tag/0.23.13).
+ [Outdoor Stereo VSLAM](#outdoor-stereo-vslam)
+ [Indoor 2D LiDAR and RGB-D SLAM](#indoor-2d-lidar-and-rgb-d-slam)
+ [Multi-Session Indoor 2D LiDAR and RGB-D SLAM](#multi-session-indoor-2d-lidar-and-rgb-d-slam)
@@ -36,6 +39,11 @@
![Peek 2024-11-29 12-01](https://github.com/user-attachments/assets/b3cc0c67-517a-4f69-b4cc-35d288e96165)
### Netherdrone 3D LiDAR SLAM
[netherdrone_lidar3d_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/netherdrone_lidar3d_demo.launch.py)
![Peek 2026-10-10 12-12](https://github.com/user-attachments/assets/a79f0519-6c39-48a4-8c14-799c0775571e)
### Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM
[turtlebot4_sim_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot4/turtlebot4_sim_demo.launch.py)
@@ -90,3 +98,16 @@ FusionCore (wheel + IMU UKF) and `icp_odometry` run in a feedback loop: FusionCo
[isaac_sim_vslam_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/isaac/isaac_sim_vslam_demo.launch.py) stereo:=false vo:=rtabmap
![Peek 2024-11-30 13-22](https://github.com/user-attachments/assets/240820c6-4dea-4cbf-9431-b4b3af695d51)
## Tests
`colcon test --packages-select rtabmap_demos` runs two tests:
* `test_launch_files` loads every launch file of this package, with its default arguments and with each of its switches flipped, without starting anything. It checks that the files, executables, components and included launch files exist, that the arguments passed to our own launch files are declared, and that RTAB-Map's parameters exist in the installed library. Packages that are not installed (simulators, robots) are stubbed and named in a warning.
* `test_demo_playback` replays demo bags through the demo launch files and compares the resulting graphs with the golden ones in `test/golden` (number of nodes and of loop closures, and the trajectory error rtabmap computes against the golden trajectory, replayed as ground truth). It is skipped unless the bags were downloaded first (a few GB):
```bash
rtabmap_demos/test/fetch_test_data.sh # or set RTABMAP_DEMOS_TEST_DATA to download elsewhere
```
The bags are replayed in lockstep with the demo's nodes: each sensor message is published only once every node is idle, so results do not depend on how loaded the machine is. A replay takes a few minutes per bag. To keep a run's graph, database and log, set `RTABMAP_DEMOS_TEST_RESULTS` to a directory. After a change that is expected to change the results, regenerate the golden graphs with `RTABMAP_DEMOS_UPDATE_GOLDEN=1` and commit them.
rtabmap_demos/config/demo_lidar3d.rviz
+267
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@@ -0,0 +1,267 @@
Panels:
- Class: rviz_common/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Image1/Topic1
Splitter Ratio: 0.5
Tree Height: 390
- Class: rviz_common/Views
Expanded:
- /Current View1
- /Current View1/Wall clipping1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
arducam:
Value: true
base_link:
Value: true
base_link_stabilized:
Value: true
box_link:
Value: true
camera_link:
Value: true
dynamixel_base:
Value: true
dynamixel_shaft:
Value: true
icp_odom:
Value: true
imu_link:
Value: true
map:
Value: true
os_imu:
Value: true
os_lidar:
Value: true
os_sensor:
Value: true
os_sensor_base:
Value: true
rotor_0:
Value: true
rotor_1:
Value: true
rotor_2:
Value: true
rotor_3:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
map:
icp_odom:
base_link_stabilized:
base_link:
box_link:
camera_link:
arducam:
{}
dynamixel_base:
dynamixel_shaft:
os_sensor_base:
os_sensor:
os_imu:
{}
os_lidar:
{}
imu_link:
{}
rotor_0:
{}
rotor_1:
{}
rotor_2:
{}
rotor_3:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 63.8961181640625
Min Value: -59.4283332824707
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 4
Cloud from scan: true
Cloud max depth (m): 0
Cloud min depth (m): 0
Cloud voxel size (m): 0
Color: 255; 255; 255
Color Transformer: Intensity
Download graph: false
Download map: false
Download namespace: rtabmap
Enabled: false
Filter ceiling (m): 0
Filter floor (m): 0
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 750
Min Color: 0; 0; 0
Min Intensity: 0
Name: MapCloud
Node filtering angle (degrees): 30
Node filtering radius (m): 0
Position Transformer: XYZ
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Points
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /mapData
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Class: rtabmap_rviz_plugins/MapGraph
Enabled: true
Global loop closure: 255; 0; 0
Landmark: 0; 128; 0
Local loop closure: 255; 255; 0
Merged neighbor: 255; 170; 0
Name: MapGraph
Neighbor: 0; 0; 255
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /mapGraph
User: 255; 0; 0
Value: true
Virtual: 255; 0; 255
- Class: octomap_rviz_plugins/ColorOccupancyGrid
Enabled: true
Max. Height Display: 3.4028234663852886e+38
Max. Octree Depth: 14
Min. Height Display: -3.4028234663852886e+38
Name: ColorOccupancyGrid
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /octomap_binary
Value: true
Voxel Alpha: 1
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/image_raw/compressed
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rtabmap_rviz_plugins/OrbitOriented
Distance: 2.5
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 1.2000000476837158
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3403986096382141
Target Frame: base_link
Value: OrbitOriented (rtabmap_rviz_plugins)
Wall clipping:
Ignore Distance: 1
Octomap Topic: /octomap_binary
Octree Depth: 14
Value: true
Wall Margin: 0.05000000074505806
Yaw: 3.100417137145996
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 876
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000001000000000000015600000312fc0200000003fb000000100044006900730070006c006100790073010000003d000001c3000000c900fffffffb0000000a00560069006500770073000000016200000116000000a400fffffffb0000000a0049006d0061006700650100000206000001490000002800ffffff000002990000031200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1013
X: 69
Y: 48
rtabmap_demos/config/demo_lidar3d_gui.ini
+454
View File
@@ -0,0 +1,454 @@
[Gui]
AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10\0\0\0\0\0\0\0\0\a\x80\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10)
DepthCalibrationDialog\bin_depth=2
DepthCalibrationDialog\bin_height=6
DepthCalibrationDialog\bin_width=8
DepthCalibrationDialog\cone_radius=0.02
DepthCalibrationDialog\cone_stddev_thresh=0.1
DepthCalibrationDialog\decimation=1
DepthCalibrationDialog\laser_scan=false
DepthCalibrationDialog\max_depth=3.5
DepthCalibrationDialog\max_model_depth=10
DepthCalibrationDialog\min_depth=0
DepthCalibrationDialog\smoothing=1
DepthCalibrationDialog\voxel=0.01
ExportBundlerDialog\exportPoints=false
ExportBundlerDialog\laplacianThr=0
ExportBundlerDialog\maxAngularSpeed=0
ExportBundlerDialog\maxLinearSpeed=0
ExportBundlerDialog\sba_iterations=20
ExportBundlerDialog\sba_rematch_features=true
ExportBundlerDialog\sba_type=1
ExportBundlerDialog\sba_variance=1
ExportCloudsDialog\assemble=true
ExportCloudsDialog\assemble_samples=0
ExportCloudsDialog\assemble_voxel=0.01
ExportCloudsDialog\bilateral=false
ExportCloudsDialog\bilateral_sigma_r=0.1
ExportCloudsDialog\bilateral_sigma_s=10
ExportCloudsDialog\binary=true
ExportCloudsDialog\cam_proj=false
ExportCloudsDialog\cam_proj_decimation=1
ExportCloudsDialog\cam_proj_distance_policy=true
ExportCloudsDialog\cam_proj_export_format=0
ExportCloudsDialog\cam_proj_keep_points=false
ExportCloudsDialog\cam_proj_mask=
ExportCloudsDialog\cam_proj_max_angle=0
ExportCloudsDialog\cam_proj_max_depth_error=0
ExportCloudsDialog\cam_proj_max_distance=0
ExportCloudsDialog\cam_proj_recolor_points=true
ExportCloudsDialog\cam_proj_roi_ratios=0.0 0.0 0.0 0.0
ExportCloudsDialog\cputsdf_flattenRadius=0.005
ExportCloudsDialog\cputsdf_minWeight=0
ExportCloudsDialog\cputsdf_randomSplit=1
ExportCloudsDialog\cputsdf_resolution=0.01
ExportCloudsDialog\cputsdf_size=12
ExportCloudsDialog\cputsdf_truncNeg=0.03
ExportCloudsDialog\cputsdf_truncPos=0.03
ExportCloudsDialog\filtering=false
ExportCloudsDialog\filtering_min_neighbors=5
ExportCloudsDialog\filtering_radius=0
ExportCloudsDialog\frame=0
ExportCloudsDialog\from_depth=true
ExportCloudsDialog\gain=false
ExportCloudsDialog\gain_beta=10
ExportCloudsDialog\gain_full=false
ExportCloudsDialog\gain_overlap=0
ExportCloudsDialog\gain_radius=0.02
ExportCloudsDialog\gain_rgb=true
ExportCloudsDialog\intensity_colormap=0
ExportCloudsDialog\mesh=false
ExportCloudsDialog\mesh_angle_tolerance=15
ExportCloudsDialog\mesh_clean=true
ExportCloudsDialog\mesh_color_radius=0.05
ExportCloudsDialog\mesh_decimation_factor=0
ExportCloudsDialog\mesh_dense_strategy=1
ExportCloudsDialog\mesh_max_polygons=0
ExportCloudsDialog\mesh_min_cluster_size=0
ExportCloudsDialog\mesh_mu=2.5
ExportCloudsDialog\mesh_quad=false
ExportCloudsDialog\mesh_radius=0.2
ExportCloudsDialog\mesh_texture=false
ExportCloudsDialog\mesh_textureBlending=true
ExportCloudsDialog\mesh_textureBlendingDecimation=0
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=5
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0
ExportCloudsDialog\mesh_textureCameraFiltering=false
ExportCloudsDialog\mesh_textureCameraFilteringAngle=30
ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0
ExportCloudsDialog\mesh_textureCameraFilteringRadius=0
ExportCloudsDialog\mesh_textureCameraFilteringVel=0
ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0
ExportCloudsDialog\mesh_textureDistanceToCamPolicy=false
ExportCloudsDialog\mesh_textureExposureFusion=false
ExportCloudsDialog\mesh_textureFormat=0
ExportCloudsDialog\mesh_textureMaxAngle=0
ExportCloudsDialog\mesh_textureMaxCount=1
ExportCloudsDialog\mesh_textureMaxDepthError=0
ExportCloudsDialog\mesh_textureMaxDistance=3
ExportCloudsDialog\mesh_textureMinCluster=50
ExportCloudsDialog\mesh_textureMultiband=false
ExportCloudsDialog\mesh_textureMultibandAngleHardThr=90
ExportCloudsDialog\mesh_textureMultibandBestScoreThr=0.1
ExportCloudsDialog\mesh_textureMultibandDownScale=2
ExportCloudsDialog\mesh_textureMultibandFillHoles=false
ExportCloudsDialog\mesh_textureMultibandForceVisible=false
ExportCloudsDialog\mesh_textureMultibandNbContrib=1 5 10 0
ExportCloudsDialog\mesh_textureMultibandPadding=5
ExportCloudsDialog\mesh_textureMultibandUnwrap=0
ExportCloudsDialog\mesh_textureRoiRatios=0.0 0.0 0.0 0.0
ExportCloudsDialog\mesh_textureSize=6
ExportCloudsDialog\mesh_textureVertexColorPolicy=0
ExportCloudsDialog\mesh_triangle_size=1
ExportCloudsDialog\mls=false
ExportCloudsDialog\mls_dilation_iterations=1
ExportCloudsDialog\mls_dilation_voxel_size=0.005
ExportCloudsDialog\mls_output_voxel_size=0
ExportCloudsDialog\mls_point_density=10
ExportCloudsDialog\mls_polygonial_order=2
ExportCloudsDialog\mls_radius=0.04
ExportCloudsDialog\mls_upsampling_method=0
ExportCloudsDialog\mls_upsampling_radius=0.01
ExportCloudsDialog\mls_upsampling_step=0.005
ExportCloudsDialog\nodes_filtering=false
ExportCloudsDialog\nodes_filtering_xmax=0
ExportCloudsDialog\nodes_filtering_xmin=0
ExportCloudsDialog\nodes_filtering_ymax=0
ExportCloudsDialog\nodes_filtering_ymin=0
ExportCloudsDialog\nodes_filtering_zmax=0
ExportCloudsDialog\nodes_filtering_zmin=0
ExportCloudsDialog\normals_ground_normals_up=0
ExportCloudsDialog\normals_k=20
ExportCloudsDialog\normals_radius=0
ExportCloudsDialog\num_threads=0
ExportCloudsDialog\openchisel_carving_dist_m=0.05
ExportCloudsDialog\openchisel_chunk_size_x=16
ExportCloudsDialog\openchisel_chunk_size_y=16
ExportCloudsDialog\openchisel_chunk_size_z=16
ExportCloudsDialog\openchisel_far_plane_dist=1.1
ExportCloudsDialog\openchisel_integration_weight=1
ExportCloudsDialog\openchisel_merge_vertices=true
ExportCloudsDialog\openchisel_near_plane_dist=0.05
ExportCloudsDialog\openchisel_truncation_constant=0.001504
ExportCloudsDialog\openchisel_truncation_linear=0.00152
ExportCloudsDialog\openchisel_truncation_quadratic=0.0019
ExportCloudsDialog\openchisel_truncation_scale=10
ExportCloudsDialog\openchisel_use_voxel_carving=false
ExportCloudsDialog\pipeline=1
ExportCloudsDialog\poisson_depth=0
ExportCloudsDialog\poisson_iso=8
ExportCloudsDialog\poisson_manifold=true
ExportCloudsDialog\poisson_minDepth=5
ExportCloudsDialog\poisson_outputPolygons=false
ExportCloudsDialog\poisson_pointWeight=4
ExportCloudsDialog\poisson_polygon_size=0.03
ExportCloudsDialog\poisson_samples=1
ExportCloudsDialog\poisson_scale=1.1
ExportCloudsDialog\poisson_solver=8
ExportCloudsDialog\regenerate=false
ExportCloudsDialog\regenerate_ceiling=0
ExportCloudsDialog\regenerate_decimation=1
ExportCloudsDialog\regenerate_distortion_model=
ExportCloudsDialog\regenerate_edge_bleeding_error=0
ExportCloudsDialog\regenerate_fill_error=2
ExportCloudsDialog\regenerate_fill_size=0
ExportCloudsDialog\regenerate_floor=0
ExportCloudsDialog\regenerate_footprint_height=0
ExportCloudsDialog\regenerate_footprint_length=0
ExportCloudsDialog\regenerate_footprint_width=0
ExportCloudsDialog\regenerate_max_depth=4
ExportCloudsDialog\regenerate_min_depth=0
ExportCloudsDialog\regenerate_min_depth_confidence=0
ExportCloudsDialog\regenerate_offaxis_filtering=false
ExportCloudsDialog\regenerate_offaxis_filtering_angle=10
ExportCloudsDialog\regenerate_offaxis_filtering_neg_x=true
ExportCloudsDialog\regenerate_offaxis_filtering_neg_y=true
ExportCloudsDialog\regenerate_offaxis_filtering_neg_z=true
ExportCloudsDialog\regenerate_offaxis_filtering_pos_x=true
ExportCloudsDialog\regenerate_offaxis_filtering_pos_y=true
ExportCloudsDialog\regenerate_offaxis_filtering_pos_z=true
ExportCloudsDialog\regenerate_roi=0.0 0.0 0.0 0.0
ExportCloudsDialog\regenerate_scan_decimation=1
ExportCloudsDialog\regenerate_scan_max_range=0
ExportCloudsDialog\regenerate_scan_min_range=0
ExportCloudsDialog\subtract=false
ExportCloudsDialog\subtract_min_neighbors=5
ExportCloudsDialog\subtract_point_angle=0
ExportCloudsDialog\subtract_point_radius=0.02
Figures\counts=
Figures\curves=
Figures\thresholds=
General\beep=false
General\cloudCeilingHeight=0
General\cloudFiltering=false
General\cloudFilteringAngle=30
General\cloudFilteringRadius=0.1
General\cloudFloorHeight=0
General\cloudNoiseMinNeighbors=5
General\cloudNoiseRadius=0
General\cloudVoxel=0
General\cloudsKept=true
General\colorScheme0=0
General\colorScheme1=0
General\colorSchemeScan0=0
General\colorSchemeScan1=0
General\decimation0=4
General\decimation1=4
General\depthConf0=0
General\depthConf1=0
General\downsamplingScan0=1
General\downsamplingScan1=1
General\elevationMapShown=0
General\figure_cache=true
General\figure_time=false
General\gravityLength0=1
General\gravityLength1=1
General\gravityShown0=false
General\gravityShown1=false
General\gridMapOpacity=0.75
General\gridMapShown=false
General\gridUIResolution=0
General\gtAlign=true
General\imageHighestHypShown=false
General\imageRejectedShown=true
General\imagesKept=true
General\landmarkSize=0.1
General\localizationsGraphView=false
General\localizationsGraphViewOdomCache=false
General\loggerEventLevel=3
General\loggerLevel=2
General\loggerPauseLevel=3
General\loggerPrintThreadId=false
General\loggerPrintTime=true
General\loggerType=1
General\maxDepth0=0
General\maxDepth1=0
General\maxRange0=30
General\maxRange1=0
General\meshing=false
General\meshing_angle=15
General\meshing_quad=true
General\meshing_texture=false
General\meshing_triangle_size=2
General\minDepth0=0
General\minDepth1=0
General\minRange0=0
General\minRange1=0
General\missingRepublished=true
General\noFiltering=true
General\nochangeGraphView=false
General\normalKSearch=10
General\normalRadiusSearch=0
General\notifyNewGlobalPath=false
General\octomap=false
General\octomap_2dgrid=true
General\octomap_3dmap=true
General\octomap_depth=16
General\octomap_point_size=5
General\octomap_rendering_type=0
General\odomDisabled=false
General\odomF2MGravitySigma=-1
General\odomOnlyInliersShown=false
General\odomQualityThr=50
General\odomRegistration=3
General\opacity0=1
General\opacity1=0.75
General\opacityScan0=1
General\opacityScan1=0.5
General\posteriorGraphView=true
General\ptSize0=1
General\ptSize1=2
General\ptSizeFeatures0=3
General\ptSizeFeatures1=3
General\ptSizeScan0=1
General\ptSizeScan1=2
General\roiRatios0=0.0 0.0 0.0 0.0
General\roiRatios1=0.0 0.0 0.0 0.0
General\scanCeilingHeight=0
General\scanFloorHeight=0
General\scanNormalKSearch=0
General\scanNormalRadiusSearch=0
General\showClouds0=false
General\showClouds1=false
General\showFeatures0=false
General\showFeatures1=true
General\showFrames=false
General\showFrustums0=false
General\showFrustums1=false
General\showGraphs=true
General\showIMUAcc=false
General\showIMUGravity=false
General\showLabels=false
General\showLandmarks=true
General\showScans0=true
General\showScans1=true
General\subtractFiltering=false
General\subtractFilteringAngle=0
General\subtractFilteringMinPts=5
General\subtractFilteringRadius=0.02
General\verticalLayoutUsed=true
General\voxelSizeScan0=0
General\voxelSizeScan1=0
General\wordsGraphView=false
MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\x2\x65\0\0\0\xb8\0\0\ad\0\0\x3\xac\0\0\x2\x65\0\0\0\xdd\0\0\ad\0\0\x3\xac\0\0\0\0\0\0\0\0\a\x80\0\0\x2\x65\0\0\0\xdd\0\0\ad\0\0\x3\xac)
MainWindow\maximized=false
MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\x9c\0\0\x2\x93\xfc\x2\0\0\0\x1\xfc\0\0\0=\0\0\x2\x93\0\0\0\x37\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0\0\0\0\x1q\0\0\0O\0\xff\xff\xff\xfc\0\0\0\0\0\0\x1\x9c\0\0\0h\0\xff\xff\xff\xfc\x2\0\0\0\x2\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0=\0\0\x2\x93\0\0\0\x37\0\xff\xff\xff\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\0\0\0\x1\xaa\0\0\x1&\0\0\0\x13\0\xff\xff\xff\0\0\0\x1\0\0\x3^\0\0\x2\x93\xfc\x2\0\0\0\x5\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0=\0\0\x1(\0\0\0Y\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0=\0\0\x2\x93\0\0\0\xdb\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\x2\xa1\0\0\0\xd2\0\0\0\x96\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x2[\0\0\x1\x9d\0\0\0\xf2\0\xff\xff\xff\xfb\0\0\0\x34\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0u\0l\0t\0i\0S\0\x65\0s\0s\0i\0o\0n\0L\0o\0\x63\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x13\0\xff\xff\xff\0\0\0\x3\0\0\x5\xbf\0\0\0\x8b\xfc\x1\0\0\0\x4\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\0\0\x5\xbf\0\0\x1+\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\x2\0\0\0\x32\0\0\0\x1b\0\0\0\xc8\0\0\0\x8a\0\0\0\0\0\0\x2\x93\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
MainWindow\status_bar=false
PostProcessingDialog\cluster_angle=30
PostProcessingDialog\cluster_radius=1
PostProcessingDialog\detect_more_lc=true
PostProcessingDialog\inter_session=true
PostProcessingDialog\intra_session=true
PostProcessingDialog\iterations=5
PostProcessingDialog\min_graph_distance=10
PostProcessingDialog\refine_lc=false
PostProcessingDialog\refine_neigbors=false
PostProcessingDialog\sba=false
PostProcessingDialog\sba_iterations=20
PostProcessingDialog\sba_rematch_features=true
PostProcessingDialog\sba_type=1
PostProcessingDialog\sba_variance=1
PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\x2\xfb\xff\xff\xff\xf6\0\0\x6\xce\0\0\x4\x12\0\0\x2\xfb\0\0\0\x1b\0\0\x6\xce\0\0\x4\x12\0\0\0\0\0\0\0\0\a\x80\0\0\x2\xfb\0\0\0\x1b\0\0\x6\xce\0\0\x4\x12)
graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
graphicsView_graphView\ensure_frame_visible=1
graphicsView_graphView\fast_zoom_min_nodes=0
graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
graphicsView_graphView\global_path_visible=true
graphicsView_graphView\gps_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\x80\x80\0\0)
graphicsView_graphView\gps_graph_visible=true
graphicsView_graphView\graph_visible=true
graphicsView_graphView\grid_visible=true
graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
graphicsView_graphView\gt_graph_visible=true
graphicsView_graphView\highlighting_color_0=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
graphicsView_graphView\highlighting_color_1=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
graphicsView_graphView\interaction_mode=0
graphicsView_graphView\intra_inter_session_colors_enabled=false
graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
graphicsView_graphView\link_width=0
graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
graphicsView_graphView\local_path_visible=true
graphicsView_graphView\local_radius_visible=false
graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
graphicsView_graphView\min_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
graphicsView_graphView\node_odom_cache_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\0\0\0\0)
graphicsView_graphView\node_radius=0.009999999776482582
graphicsView_graphView\node_visible=true
graphicsView_graphView\odom_cache_overlay=true
graphicsView_graphView\orientation_ENU=false
graphicsView_graphView\origin_visible=true
graphicsView_graphView\referential_visible=true
graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
graphicsView_graphView\view_plane=0
graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
imageView_loopClosure\alpha=100
imageView_loopClosure\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
imageView_loopClosure\colormap=2
imageView_loopClosure\colormap_camera_frame=true
imageView_loopClosure\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
imageView_loopClosure\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
imageView_loopClosure\confidence_shown=false
imageView_loopClosure\depth_shown=false
imageView_loopClosure\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
imageView_loopClosure\features_shown=true
imageView_loopClosure\features_size=0
imageView_loopClosure\graphics_view=false
imageView_loopClosure\graphics_view_scale=true
imageView_loopClosure\graphics_view_scale_to_height=false
imageView_loopClosure\image_shown=true
imageView_loopClosure\lines_shown=true
imageView_loopClosure\lines_width=0
imageView_loopClosure\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
imageView_loopClosure\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
imageView_odometry\alpha=200
imageView_odometry\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
imageView_odometry\colormap=2
imageView_odometry\colormap_camera_frame=true
imageView_odometry\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
imageView_odometry\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
imageView_odometry\confidence_shown=false
imageView_odometry\depth_shown=false
imageView_odometry\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
imageView_odometry\features_shown=true
imageView_odometry\features_size=0
imageView_odometry\graphics_view=false
imageView_odometry\graphics_view_scale=true
imageView_odometry\graphics_view_scale_to_height=false
imageView_odometry\image_shown=true
imageView_odometry\lines_shown=true
imageView_odometry\lines_width=0
imageView_odometry\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
imageView_odometry\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
imageView_source\alpha=100
imageView_source\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
imageView_source\colormap=2
imageView_source\colormap_camera_frame=true
imageView_source\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
imageView_source\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
imageView_source\confidence_shown=false
imageView_source\depth_shown=false
imageView_source\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
imageView_source\features_shown=true
imageView_source\features_size=0
imageView_source\graphics_view=false
imageView_source\graphics_view_scale=true
imageView_source\graphics_view_scale_to_height=false
imageView_source\image_shown=true
imageView_source\lines_shown=true
imageView_source\lines_width=0
imageView_source\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
imageView_source\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
multisession_imageview\alpha=100
multisession_imageview\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
multisession_imageview\colormap=2
multisession_imageview\colormap_camera_frame=true
multisession_imageview\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
multisession_imageview\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
multisession_imageview\confidence_shown=false
multisession_imageview\depth_shown=false
multisession_imageview\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
multisession_imageview\features_shown=true
multisession_imageview\features_size=0
multisession_imageview\graphics_view=false
multisession_imageview\graphics_view_scale=true
multisession_imageview\graphics_view_scale_to_height=false
multisession_imageview\image_shown=true
multisession_imageview\lines_shown=true
multisession_imageview\lines_width=0
multisession_imageview\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
multisession_imageview\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
widget_cloudViewer\camera_axis_shown=true
widget_cloudViewer\camera_focal=@Variant(\0\0\0T6\0\0\0\x35\xc0\0\0\0\0\0\0)
widget_cloudViewer\camera_free=false
widget_cloudViewer\camera_lockZ=true
widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xbf\xa5\x91p<W&\0>\xa0{X)
widget_cloudViewer\camera_target_follow=true
widget_cloudViewer\camera_target_locked=false
widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0)
widget_cloudViewer\color_range_inverted=0
widget_cloudViewer\color_range_max=0
widget_cloudViewer\color_range_min=0
widget_cloudViewer\coordinate_frame_scale=1
widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0)
widget_cloudViewer\frustum_shown=false
widget_cloudViewer\grid=false
widget_cloudViewer\grid_cell_count=50
widget_cloudViewer\grid_cell_size=1
widget_cloudViewer\intensity_max=100
widget_cloudViewer\intensity_rainbow_colormap=false
widget_cloudViewer\intensity_red_colormap=true
widget_cloudViewer\normals=false
widget_cloudViewer\normals_scale=0.20000000298023224
widget_cloudViewer\normals_step=1
widget_cloudViewer\rendering_rate=5
widget_cloudViewer\trajectory_shown=true
widget_cloudViewer\trajectory_size=100
rtabmap_demos/config/find_object.ini
+1 -1
View File
@@ -6,7 +6,7 @@ windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xda\0\0\x2'
1deviceId=0
2imageWidth=640
3imageHeight=480
4imageRate=0
4imageRate=30
5mediaPath=
6useTcpCamera=false
7IP=127.0.0.1
rtabmap_demos/launch/find_object_demo.launch.py
+21 -3
View File
@@ -1,7 +1,7 @@
# Requirements:
# find_object_2d package installed
# Download rosbag:
# * demo_find_object.db3: https://drive.google.com/file/d/1web54yQkxeGFr2UwOjKeoajGGDm0fZXT/view?usp=drive_link
# * demo_find_object_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_find_object_bag.zip
#
# Example:
#
@@ -9,7 +9,7 @@
# $ ros2 launch rtabmap_demos find_object_demo.launch.py
#
# Rosbag:
# $ ros2 bag play demo_find_object.db3 --clock
# $ ros2 bag play demo_find_object_bag --clock
#
from launch import LaunchDescription
@@ -38,6 +38,15 @@ def generate_launch_description():
'RGBD/NeighborLinkRefining': 'true', # Do odometry correction with consecutive laser scans
'Reg/Strategy': '1', # 0=Visual, 1=ICP, 2=Visual+ICP
'Reg/Force3DoF': 'true', # 2D SLAM
# The objects find_object_2d detects become landmarks (see find_object_to_landmarks.py,
# which sets their covariance from these, as rtabmap does for its own markers).
# Range and bearing only (GTSAM): the objects' orientation is the least reliable
# part of find_object_2d's estimate. Linear: the range variance (m^2), angular:
# the bearing variance (rad^2).
'Marker/VarianceLinear': '0.001',
'Marker/VarianceAngular': '0.01',
'Marker/VarianceOrientationIgnored': 'true',
'Optimizer/Strategy': '2', # GTSAM
}
remappings=[
@@ -63,6 +72,7 @@ def generate_launch_description():
# Launch arguments
DeclareLaunchArgument('rtabmap_viz', default_value='false', description='Launch RTAB-Map UI (optional).'),
DeclareLaunchArgument('rviz', default_value='true', description='Launch RVIZ (optional).'),
DeclareLaunchArgument('find_object_gui', default_value='true', description='Show the Find-Object window (false: headless).'),
DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
DeclareLaunchArgument('rviz_cfg', default_value=config_rviz, description='Configuration path of rviz2.'),
@@ -73,12 +83,16 @@ def generate_launch_description():
# Uncompress images for find_object
Node(
package='image_transport', executable='republish', name='republish_rgb', output='screen',
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=['compressed', 'raw'],
parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
remappings=[('in/compressed', '/camera/data_throttled_image/compressed'),
('out', '/camera/data_throttled_image')]),
Node(
package='image_transport', executable='republish', name='republish_depth', output='screen',
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=['compressedDepth', 'raw'],
parameters=[{'in_transport': 'compressedDepth', 'out_transport': 'raw'}],
remappings=[('in/compressedDepth', '/camera/data_throttled_image_depth/compressedDepth'),
('out', '/camera/data_throttled_image_depth')]),
@@ -119,11 +133,15 @@ def generate_launch_description():
# Find-Object
Node(
package='find_object_2d', executable='find_object_2d', output='screen',
parameters=[{'gui': True,
parameters=[{'gui': LaunchConfiguration('find_object_gui'),
'subscribe_depth': True,
'settings_path': config_find_object,
'objects_path': data_find_object}],
remappings=[('rgb/image_rect_color', '/camera/data_throttled_image'),
('depth_registered/image_raw', '/camera/data_throttled_image_depth'),
('depth_registered/camera_info', '/camera/data_throttled_camera_info')]),
# Its detections as landmarks for rtabmap (landmark_detections)
Node(
package='rtabmap_demos', executable='find_object_to_landmarks.py', output='screen',
parameters=[parameters]),
])
rtabmap_demos/launch/husky/husky_slam2d.launch.py
+5
View File
@@ -87,6 +87,10 @@ def generate_launch_description():
'robot_ns', default_value='a200_0000',
description='Robot namespace.'),
DeclareLaunchArgument(
'rtabmap_viz', default_value='true', choices=['true', 'false'],
description='Start rtabmap_viz.'),
# Nodes to launch
Node(
package='rtabmap_sync', executable='rgbd_sync', output='screen',
@@ -121,6 +125,7 @@ def generate_launch_description():
remappings=remappings),
Node(
condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
namespace=robot_ns,
parameters=[rtabmap_parameters, shared_parameters,
rtabmap_demos/launch/husky/husky_slam3d.launch.py
+5
View File
@@ -100,6 +100,10 @@ def generate_launch_description():
'robot_ns', default_value='a200_0000',
description='Robot namespace.'),
DeclareLaunchArgument(
'rtabmap_viz', default_value='true', choices=['true', 'false'],
description='Start rtabmap_viz.'),
DeclareLaunchArgument(
'use_camera', default_value='true',
description='Use camera for global loop closure / re-localization.'),
@@ -139,6 +143,7 @@ def generate_launch_description():
remappings=remappings),
Node(
condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
namespace=robot_ns,
parameters=[rtabmap_parameters, shared_parameters,
rtabmap_demos/launch/husky/husky_slam3d_assemble.launch.py
+6
View File
@@ -25,6 +25,7 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.conditions import IfCondition
from launch_ros.actions import Node
@@ -97,6 +98,10 @@ def generate_launch_description():
'robot_ns', default_value='a200_0000',
description='Robot namespace.'),
DeclareLaunchArgument(
'rtabmap_viz', default_value='true', choices=['true', 'false'],
description='Start rtabmap_viz.'),
# Nodes to launch
Node(
package='rtabmap_sync', executable='rgbd_sync', output='screen',
@@ -127,6 +132,7 @@ def generate_launch_description():
arguments=['-d']),
Node(
condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
namespace=robot_ns,
parameters=[rtabmap_parameters, shared_parameters,
rtabmap_demos/launch/multisession_mapping_demo.launch.py
+10 -10
View File
@@ -1,10 +1,10 @@
# Requirements:
# Download one or more rosbags:
# * map1.db3: https://drive.google.com/file/d/1XajzWm0u1Tk7m7x63ybcKVMXj80r5P6r/view?usp=drive_link
# * map2.db3: https://drive.google.com/file/d/1_FxEalE2O-DQKq2tRpLIpDn5Mbvu0jZc/view?usp=drive_link
# * map3.db3: https://drive.google.com/file/d/1dJzMOoRPA28gQZUIWCeAa08Qn4wG9oRw/view?usp=drive_link
# * map4.db3: https://drive.google.com/file/d/19Y6yye0ndIIwdhEWMwTdoiSy9WlKS44c/view?usp=drive_link
# * map5.db3: https://drive.google.com/file/d/1zCx4Q4SftPplQtW1xeG-W3OkbTxwd5GD/view?usp=drive_link
# * map1_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map1_bag.zip
# * map2_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map2_bag.zip
# * map3_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map3_bag.zip
# * map4_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map4_bag.zip
# * map5_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map5_bag.zip
#
# Example:
#
@@ -13,12 +13,12 @@
# $ ros2 launch rtabmap_demos multisession_mapping_demo.launch.py
#
# Rosbag:
# $ ros2 bag play map1.db3 --clock
# $ ros2 bag play map1_bag --clock
# when done, you can play the next bag(s):
# $ ros2 bag play map2.db3 --clock
# $ ros2 bag play map3.db3 --clock
# $ ros2 bag play map4.db3 --clock
# $ ros2 bag play map5.db3 --clock
# $ ros2 bag play map2_bag --clock
# $ ros2 bag play map3_bag --clock
# $ ros2 bag play map4_bag --clock
# $ ros2 bag play map5_bag --clock
#
# Refer to this paper for more info: https://arxiv.org/abs/2407.15305
#
rtabmap_demos/launch/netherdrone_lidar3d_demo.launch.py
+151
View File
@@ -0,0 +1,151 @@
# Description:
# 3D lidar SLAM with an Ouster OS1-32 turning on a motorized mast (a dynamixel
# joint), carried by a drone frame. The mast rotation sweeps the lidar's 32 beams
# over the whole sphere, but it also moves the lidar by a few degrees during each
# sweep: scans are deskewed point by point with TF, using the IMU orientation for
# the base and the joint states for the mast. This is rtabmap_examples'
# lidar3d_assemble.launch.py, set up for the bag: scans are assembled over half a
# turn of the mast, so each node of the map holds a full sphere.
#
# Note: the camera's rotation relative to the lidar (box_link -> camera_link in the
# bags' TF) was calibrated with rtabmap's rtabmap-lidarCameraCalibration tool; its
# translation is as measured.
#
# Requirements:
# Download one or more rosbags, the consecutive minutes of the same run:
# * netherdrone_ouster_vertige_bag_0.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_0.zip
# * netherdrone_ouster_vertige_bag_1.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_1.zip
# * netherdrone_ouster_vertige_bag_2.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_2.zip
# * netherdrone_ouster_vertige_bag_3.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_3.zip
# * netherdrone_ouster_vertige_bag_4.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_4.zip
# * netherdrone_ouster_vertige_bag_5.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_5.zip
#
# Example:
#
# SLAM:
# $ ros2 launch rtabmap_demos netherdrone_lidar3d_demo.launch.py
#
# Rosbag:
# $ ros2 bag play netherdrone_ouster_vertige_bag_0 --clock
# or, to play the bags one after the other:
# $ ros2 bag play netherdrone_ouster_vertige_bag_0 --clock && \
# ros2 bag play netherdrone_ouster_vertige_bag_1 --clock && \
# ros2 bag play netherdrone_ouster_vertige_bag_2 --clock && \
# ros2 bag play netherdrone_ouster_vertige_bag_3 --clock && \
# ros2 bag play netherdrone_ouster_vertige_bag_4 --clock && \
# ros2 bag play netherdrone_ouster_vertige_bag_5 --clock
#
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
def generate_launch_description():
lidar3d_assemble_launch = os.path.join(
get_package_share_directory('rtabmap_examples'), 'launch', 'lidar3d_assemble.launch.py')
config_rviz = os.path.join(
get_package_share_directory('rtabmap_demos'), 'config', 'demo_lidar3d.rviz')
config_rtabmap_viz = os.path.join(
get_package_share_directory('rtabmap_demos'), 'config', 'demo_lidar3d_gui.ini')
camera = LaunchConfiguration('camera')
rgbd_image_topic = PythonExpression(
["'/camera/rgbd_image' if '", camera, "'.lower() == 'true' else ''"])
return LaunchDescription([
# Launch arguments
DeclareLaunchArgument('rtabmap_viz', default_value='true', description='Launch RTAB-Map UI (optional).'),
DeclareLaunchArgument('rtabmap_viz_cfg', default_value=config_rtabmap_viz, description='Configuration path of rtabmap_viz.'),
DeclareLaunchArgument('rviz', default_value='true', description='Launch RVIZ (optional).'),
DeclareLaunchArgument('rviz_cfg', default_value=config_rviz, description='Configuration path of rviz2.'),
DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
DeclareLaunchArgument('voxel_size', default_value='0.3',
description='Voxel size (m) of the downsampled lidar point cloud. In this bag, the median range is 5-7 m and the farthest points are ~23 m.'),
DeclareLaunchArgument('camera', default_value='true',
description='Add the camera images to the map, with a depth made from the lidar, for visual loop closure detection (bag-of-words). Registration stays lidar only.'),
DeclareLaunchArgument('lidar_range_min', default_value='0.84',
description='Lidar points closer than this (m) are ignored. About 6% of each scan hits the drone itself, all within 0.6 m; the surroundings start at ~0.9 m.'),
DeclareLaunchArgument('assembler_voxel_size', default_value='0.05',
description='Voxel size (m) of the assembled clouds added to the map; 0 keeps every point (larger database, e.g., for camera-lidar calibration).'),
DeclareLaunchArgument('assembling_time', default_value='4.3',
description='How long (s) scans are assembled before being added to the map. The mast turns at 42 deg/s: 4.3 s is half a turn, in which the lidar\'s scanning plane sweeps the whole sphere.'),
DeclareLaunchArgument('intermediate_nodes', default_value='false',
description='Also save every odometry pose (10 Hz) between the map\'s nodes in the database.'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(lidar3d_assemble_launch),
launch_arguments={
'use_sim_time': 'true',
'frame_id': 'base_link',
'lidar_topic': '/os_cloud_node/points',
# The fixed frame for deskewing (base_link_stabilized) is made from its
# orientation.
'imu_topic': '/imu/data_filtered',
'voxel_size': LaunchConfiguration('voxel_size'),
'max_correspondence_distance': '1.0',
'icp_outlier_ratio': '0.3',
'odom_key_frame_threshold': '0.9',
'min_loop_closure_overlap': '0.1',
'odom_local_map_size': '20000',
'assembler_voxel_size': LaunchConfiguration('assembler_voxel_size'),
'rgbd_image_topic': rgbd_image_topic,
# The images are raw (k1=-0.34): rectify them, so that the lidar projected
# into them as their depth (gen_depth) lines up.
'rectify_images': 'true',
'gen_depth': camera,
'lidar_range_min': LaunchConfiguration('lidar_range_min'),
'expected_update_rate': '15.0', # the Ouster runs at 10 Hz
'assembling_time': LaunchConfiguration('assembling_time'),
# Look TF up at every point's own time ("t" field) rather than
# interpolating between the first and last points of the sweep: exact,
# for more TF lookups.
'deskewing_slerp': 'false',
'rtabmap_viz': LaunchConfiguration('rtabmap_viz'),
'rtabmap_viz_cfg': LaunchConfiguration('rtabmap_viz_cfg'),
'localization': LaunchConfiguration('localization'),
'intermediate_nodes': LaunchConfiguration('intermediate_nodes'),
}.items()),
# Camera image and calibration, together in one topic for rtabmap. Both have
# the same stamps. The camera has no depth: rtabmap makes it from the lidar.
Node(
condition=IfCondition(camera),
package='rtabmap_sync', executable='rgb_sync', output='screen',
parameters=[{
'use_sim_time': True,
'approx_sync': False,
'image_transport': 'compressed'}],
remappings=[('rgb/image', '/camera/image_raw'),
('rgb/camera_info', '/camera/camera_info'),
('rgbd_image', '/camera/rgbd_image')]),
# Orientation from the gyro and accelerometer of /imu/data_raw. Its own
# orientation (despite the name, it has one) is off from the accelerometer by a
# constant ~2 deg in roll and ~4 deg in pitch, so it is not used.
Node(
package='imu_complementary_filter', executable='complementary_filter_node', output='screen',
parameters=[{
'use_sim_time': True,
'use_mag': False,
'publish_tf': False,
'do_bias_estimation': True,
'do_adaptive_gain': True}],
remappings=[('imu/data_raw', '/imu/data_raw'),
('imu/data', '/imu/data_filtered')]),
Node(
package='rviz2', executable='rviz2', name='rviz2', output='screen',
condition=IfCondition(LaunchConfiguration('rviz')),
parameters=[{'use_sim_time': True}],
arguments=['-d', LaunchConfiguration('rviz_cfg')]),
])
rtabmap_demos/launch/robot_mapping_demo.launch.py
+4 -4
View File
@@ -1,6 +1,6 @@
# Requirements:
# Download rosbag:
# * demo_mapping.db3: https://drive.google.com/file/d/1v9qJ2U7GlYhqBJr7OQHWbDSCfgiVaLWb/view?usp=drive_link
# * demo_mapping_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_mapping_bag.zip
#
# Example:
#
@@ -8,7 +8,7 @@
# $ ros2 launch rtabmap_demos robot_mapping_demo.launch.py rviz:=true rtabmap_viz:=true
#
# Rosbag:
# $ ros2 bag play demo_mapping.db3 --clock
# $ ros2 bag play demo_mapping_bag --clock
#
from launch import LaunchDescription
@@ -43,11 +43,11 @@ def generate_launch_description():
'RGBD/OptimizeFromGraphEnd': 'false', # Optimize graph from initial node so /map -> /odom transform will be generated
'RGBD/OptimizeMaxError': '4', # Reject any loop closure causing large errors (>3x link's covariance) in the map
'Reg/Force3DoF': 'true', # 2D SLAM
'Grid/FromDepth': 'false', # Create 2D occupancy grid from laser scan
'Grid/Sensor': '0', # Create 2D occupancy grid from laser scan
'Mem/STMSize': '30', # increased to 30 to avoid adding too many loop closures on just seen locations
'RGBD/LocalRadius': '5', # limit length of proximity detections
'Icp/CorrespondenceRatio': '0.2', # minimum scan overlap to accept loop closure
'Icp/PM': 'false',
'Icp/Strategy': '0', # 0=PCL, 1=libpointmatcher
'Icp/PointToPlane': 'false',
'Icp/MaxCorrespondenceDistance': '0.15',
'Icp/VoxelSize': '0.05'
rtabmap_demos/launch/stereo_outdoor_demo.launch.py
+9 -4
View File
@@ -1,7 +1,7 @@
# Requirements:
# Download one or both rosbags:
# * stereo_outdoorA.db3: https://drive.google.com/file/d/1O7mCXg_sw4tZY1S88a-n96O6OulmqvqI/view?usp=drive_link
# * stereo_outdoorB.db3: https://drive.google.com/file/d/1mSu7418Fkbe-hIz2-3Mi936PrWuD2un_/view?usp=drive_link
# * stereo_outdoorA_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorA_bag.zip
# * stereo_outdoorB_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorB_bag.zip
#
# Example:
#
@@ -9,9 +9,9 @@
# $ ros2 launch rtabmap_demos stereo_outdoor_demo.launch.py rviz:=true rtabmap_viz:=true
#
# Rosbag:
# $ ros2 bag play stereo_outdoorA.db3 --clock
# $ ros2 bag play stereo_outdoorA_bag --clock
# when done, you can play the secon bag:
# $ ros2 bag play stereo_outdoorB.db3 --clock
# $ ros2 bag play stereo_outdoorB_bag --clock
#
from launch import LaunchDescription
@@ -44,6 +44,7 @@ def generate_launch_description():
'OdomF2M/MaxSize': '1000',
'GFTT/MinDistance': '10',
'GFTT/QualityLevel': '0.00001',
'Optimizer/Iterations': '30', # With g2o (rtabmap built without GTSAM), Levenberg-Marquardt needs ~25 iterations to converge on this graph
#'Kp/DetectorStrategy': '6', # Uncommment to match ros1 noetic results, but opencv should be built with xfeatures2d
#'Vis/FeatureType': '6' # Uncommment to match ros1 noetic results, but opencv should be built with xfeatures2d
}
@@ -72,13 +73,17 @@ def generate_launch_description():
Node(
package='image_transport', executable='republish', name='republish_left', output='screen',
namespace='stereo_camera',
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=['compressed', 'raw'],
parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
remappings=[('in/compressed', 'left/image_raw_throttle/compressed'),
('out', 'left/image_raw')]),
Node(
package='image_transport', executable='republish', name='republish_right', output='screen',
namespace='stereo_camera',
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=['compressed', 'raw'],
parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
remappings=[('in/compressed', 'right/image_raw_throttle/compressed'),
('out', 'right/image_raw')]),
rtabmap_demos/launch/stereo_outdoor_demo_composition.launch.py
+8 -4
View File
@@ -1,7 +1,7 @@
# Requirements:
# Download one or both rosbags:
# * stereo_outdoorA.db3: https://drive.google.com/file/d/1O7mCXg_sw4tZY1S88a-n96O6OulmqvqI/view?usp=drive_link
# * stereo_outdoorB.db3: https://drive.google.com/file/d/1mSu7418Fkbe-hIz2-3Mi936PrWuD2un_/view?usp=drive_link
# * stereo_outdoorA_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorA_bag.zip
# * stereo_outdoorB_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorB_bag.zip
#
# This is the "composition" variant of stereo_outdoor_demo.launch.py: the whole
# pipeline (image_proc rectification, stereo synchronization, visual odometry
@@ -16,9 +16,9 @@
# $ ros2 launch rtabmap_demos stereo_outdoor_demo_composition.launch.py rviz:=true rtabmap_viz:=true
#
# Rosbag:
# $ ros2 bag play stereo_outdoorA.db3 --clock
# $ ros2 bag play stereo_outdoorA_bag --clock
# when done, you can play the secon bag:
# $ ros2 bag play stereo_outdoorB.db3 --clock
# $ ros2 bag play stereo_outdoorB_bag --clock
#
from launch import LaunchDescription
@@ -123,13 +123,17 @@ def generate_launch_description():
Node(
package='image_transport', executable='republish', name='republish_left', output='screen',
namespace='stereo_camera',
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=['compressed', 'raw'],
parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
remappings=[('in/compressed', 'left/image_raw_throttle/compressed'),
('out', 'left/image_raw')]),
Node(
package='image_transport', executable='republish', name='republish_right', output='screen',
namespace='stereo_camera',
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=['compressed', 'raw'],
parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
remappings=[('in/compressed', 'right/image_raw_throttle/compressed'),
('out', 'right/image_raw')]),
rtabmap_demos/package.xml
+22
View File
@@ -18,6 +18,28 @@
<exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_viz</exec_depend>
<exec_depend>nav2_bringup</exec_depend>
<exec_depend>rtabmap_examples</exec_depend>
<exec_depend>imu_complementary_filter</exec_depend>
<exec_depend>find_object_2d</exec_depend>
<!-- scripts/find_object_to_landmarks.py -->
<exec_depend>rclpy</exec_depend>
<exec_depend>tf2_ros_py</exec_depend>
<exec_depend>rtabmap_msgs</exec_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_index_python</test_depend>
<test_depend>rtabmap_launch</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_ros</test_depend>
<test_depend>python3-pytest</test_depend>
<test_depend>python3-yaml</test_depend>
<test_depend>python3-numpy</test_depend>
<test_depend>python3-scipy</test_depend>
<test_depend>rclpy</test_depend>
<test_depend>rosbag2_py</test_depend>
<test_depend>rosgraph_msgs</test_depend>
<test_depend>rosidl_runtime_py</test_depend>
<test_depend>rtabmap_msgs</test_depend>
<export>
<build_type>ament_cmake</build_type>
rtabmap_demos/scripts/find_object_to_landmarks.py
Executable
+145
View File
@@ -0,0 +1,145 @@
#!/usr/bin/env python3
"""
Republish find_object_2d's detections as landmark detections for rtabmap.
find_object_2d publishes which objects it detected on `objectsStamped`, with their
homography in the image only; their 3D pose, when the depth allows it, goes on TF only,
as a frame <object_prefix>_<id> relative to the camera. For each detected object, this
node looks that frame up at the detection's stamp and publishes it on
`landmark_detections` (rtabmap_msgs/LandmarkDetections), with the object's id as the
landmark's id. An object detected twice in the same image is used once.
Covariance: rtabmap's Marker/* parameters apply only to the markers it detects itself,
a landmark detection is used with the covariance it carries. This node sets it from the
same parameters, as rtabmap does for its own markers, so that both can be given the same
values:
Marker/VarianceLinear linear variance (m^2), or with the orientation
ignored and GTSAM, the range variance (9999: bearing
only)
Marker/VarianceAngular angular variance (rad^2), or with the orientation
ignored and GTSAM, the bearing variance
Marker/VarianceOrientationIgnored ignore the object's orientation, only its position
(g2o) or its range and bearing (GTSAM) constrain the
map
Optimizer/Strategy rtabmap's optimizer: 2 is GTSAM. Needed with the
orientation ignored, set it to rtabmap's.
Reg/Force3DoF rtabmap's, for the 2D range and bearing layout
"""
import signal
import rclpy
from find_object_2d.msg import ObjectsStamped
from rclpy.duration import Duration
from rclpy.node import Node
from rclpy.time import Time
from rtabmap_msgs.msg import LandmarkDetection, LandmarkDetections
from tf2_ros import Buffer, TransformException, TransformListener
# objectsStamped's objects.data: for each object, its id, width, height and 3x3 homography.
VALUES_PER_OBJECT = 12
IGNORED = 9999.0 # a variance this large disables that part of the constraint
def _bool(value: str) -> bool:
return str(value).strip().lower() == 'true'
class FindObjectToLandmarks(Node):
def __init__(self):
super().__init__('find_object_to_landmarks')
self.object_prefix = self.declare_parameter('object_prefix', 'object').value
self.wait_for_transform = self.declare_parameter('wait_for_transform', 0.2).value
# As rtabmap's parameters: strings.
linear = float(self.declare_parameter('Marker/VarianceLinear', '0.001').value)
angular = float(self.declare_parameter('Marker/VarianceAngular', '0.01').value)
orientation_ignored = _bool(
self.declare_parameter('Marker/VarianceOrientationIgnored', 'false').value)
strategy = self.declare_parameter('Optimizer/Strategy', '').value
force_3dof = _bool(self.declare_parameter('Reg/Force3DoF', 'false').value)
if orientation_ignored and not strategy:
self.get_logger().warn(
'Marker/VarianceOrientationIgnored is true but Optimizer/Strategy is not set: '
'assuming it is not GTSAM. Set it to rtabmap\'s.')
self.covariance = self._covariance(
linear, angular, orientation_ignored, strategy == '2', force_3dof)
self.get_logger().info(
f'object_prefix={self.object_prefix}, covariance diagonal='
f'{[self.covariance[i * 7] for i in range(6)]}')
self.tf_buffer = Buffer()
# Its own thread: on_objects() waits for the object's frame.
self.tf_listener = TransformListener(self.tf_buffer, self, spin_thread=True)
self.publisher = self.create_publisher(LandmarkDetections, 'landmark_detections', 10)
self.create_subscription(ObjectsStamped, 'objectsStamped', self.on_objects, 10)
@staticmethod
def _covariance(linear, angular, orientation_ignored, gtsam, force_3dof):
"""The 6x6 covariance rtabmap gives its own markers (see Memory.cpp), row-major."""
diagonal = [linear] * 3 + [angular] * 3
if orientation_ignored:
diagonal = [linear] * 3 + [IGNORED] * 3
if gtsam and force_3dof:
# 2D bearing and range: x is the bearing, y the range (see OptimizerGTSAM).
diagonal[0:3] = [angular, linear, 1.0]
elif gtsam:
# 3D bearing and range: x and y are the bearing, z the range.
diagonal[0:3] = [angular, angular, linear]
covariance = [0.0] * 36
for i, value in enumerate(diagonal):
covariance[i * 7] = value
return covariance
def on_objects(self, msg: ObjectsStamped):
detections = LandmarkDetections()
detections.header = msg.header
data = msg.objects.data
used = set()
for i in range(0, len(data) - VALUES_PER_OBJECT + 1, VALUES_PER_OBJECT):
object_id = int(data[i])
if object_id <= 0 or object_id in used:
continue
used.add(object_id)
frame = f'{self.object_prefix}_{object_id}'
try:
transform = self.tf_buffer.lookup_transform(
msg.header.frame_id, frame, Time.from_msg(msg.header.stamp),
Duration(seconds=self.wait_for_transform))
except TransformException as e:
# find_object_2d publishes no frame for an object without valid depth.
self.get_logger().debug(f'object {object_id} skipped: {e}')
continue
landmark = LandmarkDetection()
landmark.header = msg.header
landmark.landmark_frame_id = frame
landmark.id = object_id
t, r = transform.transform.translation, transform.transform.rotation
pose = landmark.pose.pose
pose.position.x, pose.position.y, pose.position.z = t.x, t.y, t.z
pose.orientation = r
landmark.pose.covariance = self.covariance
detections.landmarks.append(landmark)
if detections.landmarks:
self.publisher.publish(detections)
def main():
rclpy.init()
node = FindObjectToLandmarks()
try:
rclpy.spin(node)
except KeyboardInterrupt:
pass
finally:
# A second Ctrl-C (one from the terminal, one from ros2 launch) would interrupt
# the cleanup.
signal.signal(signal.SIGINT, signal.SIG_IGN)
# Its thread before rclpy: torn down after, it raises at exit.
node.tf_listener.unregister()
node.destroy_node()
rclpy.try_shutdown()
if __name__ == '__main__':
main()
rtabmap_demos/test/README.md
+207
View File
@@ -0,0 +1,207 @@
# Demo playback tests
`test_demo_playback.py` replays a demo's bag through the demo's own launch file and compares the graph rtabmap builds with a golden one, saved in [golden/](golden/). It checks that a change anywhere in the pipeline (a node, a launch file, rtabmap itself) still produces the same map.
| Scenario | Launch file | Bag |
|---|---|---|
| `robot_mapping` | `robot_mapping_demo.launch.py` | `demo_mapping_bag` |
| `stereo_outdoor` | `stereo_outdoor_demo.launch.py` | `stereo_outdoorA_bag` then `stereo_outdoorB_bag` |
| `netherdrone_lidar3d` | `netherdrone_lidar3d_demo.launch.py` | `netherdrone_ouster_vertige_bag_0` to `_5`, played one after the other |
| `find_object` | `find_object_demo.launch.py` | `demo_find_object_bag` (skipped without `find_object_2d`, which Lyrical and Rolling do not have) |
## Running
The bags are about 5 GB, so they are not in the repository. Fetch them once, into `test/data` (each bag is listed with its SHA-256 in [data/manifest.txt](data/manifest.txt)):
```bash
bash test/fetch_test_data.sh
```
Without them, the scenarios skip themselves. Then, from the workspace:
```bash
colcon test --packages-select rtabmap_demos --ctest-args -R test_demo_playback
```
Each scenario replays its bag in about real time on a desktop, longer on a slower machine. The test's CMake registration gives it its own DDS domain (`ROS_DOMAIN_ID=110`): when running `pytest` directly instead, set it yourself, or any other ROS node running on the machine will talk to the pipeline and spoil the run.
| Environment variable | Effect |
|---|---|
| `RTABMAP_DEMOS_TEST_DATA` | Where the bags are (default `test/data`). |
| `RTABMAP_DEMOS_TEST_RESULTS` | Where each run's database, graph and launch log are kept (default: a temporary directory). In CI, they are uploaded when the test fails. |
| `RTABMAP_DEMOS_UPDATE_GOLDEN=1` | Write the run's graph as the new golden one instead of comparing with it. |
## How a run works
1. The demo's launch file is started through a small generated launch file (`demo.launch.py` in the results folder), which includes the demo with the scenario's `launch_arguments` after `launch_ros`' `SetParametersFromFile`. Its parameter file (`demo.launch.yaml`) gives the node named `rtabmap` its database path and ground truth frames, and every node the scenario's `parameters`. So the demos need no launch argument for the test, and a node's own value for a parameter, set by its launch file, wins over the file's.
2. The bag is replayed in lockstep with the pipeline (see below), and the golden trajectory is published in TF beside it, as `golden_map` → `golden_base`. rtabmap is given these as its ground truth frames, so it computes the error of its map against the golden trajectory itself (the `Gt/*` statistics of `/info`).
3. Once the bag is done, the launch file is stopped as Ctrl-C would, so rtabmap closes its database. The graph is exported from the database with `rtabmap-export`, every node optimized.
4. The run is compared with the golden graph: node count, loop closures and path length within each scenario's tolerances, and rtabmap's translational and rotational RMSE against the golden trajectory under each scenario's limits.
## The lockstep player
`ros2 bag play` publishes at the bag's pace, whatever the nodes do. On a loaded machine, a node still busy with the previous frame drops the next one, and which frames get dropped changes from run to run. `bag_lockstep.py` instead publishes each sensor message only once the whole pipeline has finished with the previous one, so a slower machine only takes longer.
- **Gated topics:** the large messages something subscribes to, the ones the pipeline takes time to process: images (raw and compressed), point clouds and laser scans (`GATED_TYPES`). The other topics, IMU, camera info, odometry, TF, go out in the bag's order without waiting: before the next large message, the pipeline is idle again, so it has processed them. Topics nobody subscribes to are published in the bag's order as well.
- **Idle:** read from the kernel, not from the nodes. The player reads the state of every thread of every process started by `ros2 launch` (`/proc/<pid>/task/*/stat`): a thread with work to do is runnable, also while it waits for a CPU, and a node waiting for its next message has all its threads asleep. A node passing a message on wakes the next one before going back to sleep, so the pipeline only looks idle once its last stage is done. Idle means no runnable thread in 2 checks in a row, 2 ms apart.
- **Clock:** `/clock` is set to each gated message's stamp before it is published.
- **TF:** not gated, and sent ahead of the large messages: those are held back by 0.2 s, so the transforms a node needs for a frame are in its buffer when the frame arrives. The other ungated topics go out at their own stamps too, so 0.2 s ahead of them as well. The golden trajectory goes out the same way, with poses at most 0.25 s apart and 0.5 s ahead of their stamps.
- **Synchronous publishing:** the test sets `RMW_FASTRTPS_PUBLICATION_MODE=SYNCHRONOUS`, so that `publish()` sends the message before returning. Otherwise right after a `publish()` nothing has woken up yet, and the pipeline looks idle.
A sleeping thread looks idle even when work is still under way: a node waiting for a transform with a timeout, or a message still on its way to a subscriber. A message then goes out early, and waits in its subscriber's queue, so nothing is lost as long as every subscriber keeps what it receives:
- **Reliable subscriptions:** every QoS parameter of rtabmap's nodes is set to reliable (`RELIABLE_QOS` in `test_demo_playback.py`). Their default, the system's, is best effort with Fast DDS (the ROS 2 default), which drops a message arriving while the node is busy: a loaded CI runner lost up to two thirds of the lidar sweeps that way.
- **Every frame processed:** odometry with `always_process_most_recent_frame` on drops a frame arriving while it is busy. The scenarios set it off, and deepen the queues that need it (`parameters`, `node_parameters`).
`RTABMAP_DEMOS_REPLAY=chunked` replays without the idle check instead: at the bag's pace, 10 s at a time, waiting after each until rtabmap's `/info` has caught up (within each scenario's `chunk_slack`). It is as fast, but within a chunk a node slower than real time builds up a backlog: lockstep, the default, waits for it instead.
## Examples
Each diagram follows one frame of a scenario through its pipeline. "Wait until every thread is asleep" is the player's idle check, before each gated message; the other messages go out without it.
### `robot_mapping`: one camera frame
The bag holds a robot's laser scans, its camera's compressed color and depth images and camera info, and TF, which also carries the wheel odometry (`odom` → `base_footprint`). `rgbd_sync` uncompresses the images and pairs them, and `rtabmap` pairs that with the closest laser scan (approximate sync), takes the odometry from TF and maps, one update per second (`Rtabmap/DetectionRate`). The three gated topics are `/jn0/base_scan`, `data_throttled_image/compressed` and `data_throttled_image_depth/compressedDepth`; `data_throttled_camera_info` goes out without waiting. There are about five scans per camera frame:
```mermaid
sequenceDiagram
autonumber
participant P as Lockstep player
participant S as rgbd_sync
participant M as rtabmap
participant T as Test
Note over P: /tf of the next 0.2 s already sent (wheel odometry,<br/>robot frames), and the golden trajectory 0.5 s ahead
loop about five times per camera frame
P->>P: wait until every thread is asleep
P->>M: /clock, then /jn0/base_scan
Note over M: kept in its synchronizer's queue
end
P->>S: data_throttled_camera_info (no wait)
P->>P: wait until every thread is asleep
P->>S: data_throttled_image/compressed
P->>P: wait until every thread is asleep
P->>S: data_throttled_image_depth/compressedDepth
S->>M: rgbd_image (color, depth and camera info, uncompressed)
alt once a second (Rtabmap/DetectionRate)
M->>M: pair with the closest scan, odometry from odom → base_footprint,<br/>add a node, look for loop closures,<br/>its ground truth from golden_map → golden_base
M->>T: /info (statistics, Gt/* errors)
end
Note over P: everything asleep again:<br/>the next message can go
```
With `output_queue_size: 10` on `rgbd_sync`, an image it publishes is not replaced before rtabmap has received it.
### `stereo_outdoor`: one stereo frame
Each of the two bags holds the left and right compressed images and camera infos of a stereo camera, and TF. The demo uncompresses the images (`image_transport` `republish`), rectifies them (`stereo_image_proc`), pairs them (`stereo_sync`), computes visual odometry from them (`stereo_odometry`) and maps (`rtabmap`, one update per second, `Rtabmap/DetectionRate`). The two gated topics are the left and right `image_raw_throttle/compressed`; their `camera_info_throttle` go out without waiting. For one stereo frame:
```mermaid
sequenceDiagram
autonumber
participant P as Lockstep player
participant R as republish (left, right)
participant I as stereo_image_proc
participant S as stereo_sync
participant O as stereo_odometry
participant M as rtabmap
participant T as Test
Note over P: /tf of the next 0.2 s already sent,<br/>and the golden trajectory 0.5 s ahead
P->>S: left and right camera_info (no wait)
Note over S: waits for the images
P->>P: wait until every thread is asleep
P->>R: /clock, then left image_raw_throttle/compressed
R->>I: left/image_raw
I->>S: left/image_rect (debayered, rectified)
Note over S: waits for the right image
P->>P: wait until every thread is asleep
P->>R: right image_raw_throttle/compressed
R->>I: right/image_raw
I->>S: right/image_rect
S->>O: rgbd_image (left and right, exact sync)
S->>M: rgbd_image
O->>M: /vo (odom), and odom → base_footprint on /tf
alt once a second (Rtabmap/DetectionRate)
M->>M: add a node, look for loop closures,<br/>its ground truth from golden_map → golden_base
M->>T: /info (statistics, Gt/* errors)
end
Note over P: everything asleep again:<br/>the next frame can go
```
The pipeline is idle only once rtabmap is done with the frame, so the next frame is never published while any node is still working on this one. With `always_process_most_recent_frame: False`, odometry registers each frame in turn rather than skipping to the most recent, and with `output_queue_size: 10` on `stereo_sync`, a frame it publishes is not replaced before odometry and rtabmap have received it.
### `netherdrone_lidar3d`: one lidar sweep
The bag holds a drone's lidar sweeps (Ouster, 10 Hz), an IMU, its camera's compressed images and camera info, and TF (the sensors' mounting, the lidar's rotating mast). The demo includes `lidar3d_assemble.launch.py` from `rtabmap_examples`:
- `complementary_filter_node` filters the IMU into `/imu/data_filtered`, and `imu_to_tf` turns its orientation into TF, `base_link_stabilized` → `base_link`.
- `lidar_deskewing` corrects each sweep for the motion during it, from that TF, into `/os_cloud_node/points/deskewed`.
- `icp_odometry` registers each deskewed sweep (with the filtered IMU, and the stabilized frame as guess) into `/icp_odom`, and TF `icp_odom` → `base_link_stabilized`.
- `point_cloud_assembler` accumulates the deskewed sweeps over 4.3 s (half a turn of the mast) into `/assembled_cloud`.
- `rgb_sync` uncompresses the camera images into `/camera/rgbd_image`.
- `rtabmap` adds a node for each assembled cloud, with the camera image closest to it and a depth made from the lidar, and an intermediate node for each odometry pose in between (`intermediate_nodes:=true`).
The two gated topics are `/os_cloud_node/points` and `/camera/image_raw/compressed`; `/imu/data_raw` and `/camera/camera_info` go out without waiting. Between two sweeps, the bag holds about eight IMU messages and three camera frames:
```mermaid
sequenceDiagram
autonumber
participant P as Lockstep player
participant F as complementary_filter
participant U as imu_to_tf
participant C as rgb_sync
participant D as lidar_deskewing
participant O as icp_odometry
participant A as point_cloud_assembler
participant M as rtabmap
participant T as Test
Note over P: /tf of the next 0.2 s already sent (mounting, mast),<br/>and the golden trajectory 0.5 s ahead
loop about eight times per sweep
P->>F: /imu/data_raw (no wait)
F->>O: /imu/data_filtered
F->>U: /imu/data_filtered
U->>U: TF base_link_stabilized → base_link
end
loop about three times per sweep
P->>C: /camera/camera_info (no wait)
P->>P: wait until every thread is asleep
P->>C: /clock, then /camera/image_raw/compressed
C->>M: /camera/rgbd_image
Note over M: kept in its synchronizer's queue
end
P->>P: wait until every thread is asleep
P->>D: /clock, then /os_cloud_node/points
D->>D: TF over the sweep (base_link_stabilized)
D->>O: /os_cloud_node/points/deskewed
D->>A: /os_cloud_node/points/deskewed
O->>A: /icp_odom, and icp_odom → base_link_stabilized on /tf
O->>M: /icp_odom (kept for an intermediate node)
alt every 4.3 s, half a turn of the mast
A->>M: /assembled_cloud
M->>M: sync with /icp_odom and the closest camera image,<br/>add a node and the intermediate nodes since the last one,<br/>their ground truth from golden_map → golden_base
M->>T: /info (statistics, Gt/* errors)
end
Note over P: everything asleep again:<br/>the next message can go
```
The idle check before each sweep comes after the IMU messages before it: by then, the filter and `imu_to_tf` have processed them, and the transforms `lidar_deskewing` needs are there. Every sweep reaches odometry with reliable subscriptions throughout (a best-effort `lidar_deskewing` lost up to two thirds of them on CI), and `icp_odometry` registers each in turn (`always_process_most_recent_frame: False`, `topic_queue_size: 10`). The six bags of the flight are played one after the other, about 6 minutes of data.
## Golden graphs
[golden/](golden/) holds each scenario's graph (`.g2o`) and trajectory (`.tum`). The golden graphs are made on a developer's machine, and the rtabmap built there with all its optional dependencies: CI builds rtabmap differently, which changes how many frames rtabmap merges into the previous node, hence each scenario's tolerances. To regenerate one after a deliberate change to the pipeline:
```bash
RTABMAP_DEMOS_UPDATE_GOLDEN=1 ROS_DOMAIN_ID=110 python3 -m pytest -s test/test_demo_playback.py -k stereo
```
Then replay it once more without `RTABMAP_DEMOS_UPDATE_GOLDEN`, to check a run matches it, and commit the two files.
rtabmap_demos/test/bag_lockstep.py
+496
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"""
Play a rosbag2 bag in lockstep with the nodes consuming it.
`ros2 bag play` publishes at the bag's pace whatever the consumers do; on a loaded
machine a node still busy with the previous frame drops the next one, and which
frames it drops changes from run to run. Here a sensor message is only published
once every process of the pipeline is idle again, so on a slower machine the replay
just takes longer, and each node sees every message it would on an idle one.
This needs every publisher of the pipeline, this player's included, to send the
message before publish() returns (RMW_FASTRTPS_PUBLICATION_MODE=SYNCHRONOUS with Fast
DDS, which otherwise sends large messages from a thread of its own; Cyclone DDS always
does). Else, right after a publish(), nothing has woken up yet and all looks idle.
"Idle" is read from the kernel, not from the nodes: a thread with work to do is
runnable (state R) -- also while it waits for a CPU, which is what makes this hold
under load -- and a node waiting for its next message has every thread sleeping. A
node passing a message on wakes the next one before going back to sleep, so a
pipeline is idle only once its last stage is done. That needs no knowledge of what
each node publishes, or of which frames the SLAM node keeps (those it skips because
of Rtabmap/DetectionRate publish nothing at all).
TF is not gated. It is published ahead of the sensor data by a lookahead, so a
transform interpolated at a frame's stamp -- or at the stamp of a lidar sweep's last
point, for deskewing -- is already in the listener's buffer when the frame arrives.
Transforms not in the bag can be added to its TF (add_trajectory), each sent a lead
time before its stamp: a ground truth trajectory for rtabmap, for instance.
"""
import collections
import heapq
import os
import time
from typing import Callable, Dict, List, Optional, Set, Tuple
import numpy as np
import rosbag2_py
import yaml
from geometry_msgs.msg import TransformStamped
from rclpy.node import Node
from rclpy.serialization import serialize_message
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
from rosgraph_msgs.msg import Clock
from rosidl_runtime_py.utilities import get_message
from scipy.spatial.transform import Rotation, Slerp
from tf2_msgs.msg import TFMessage
# Only the large messages, those the pipeline takes time to process, wait for it to be
# idle: images, point clouds and laser scans. The others (IMU, camera info, odometry,
# TF...) go out in the bag's order without waiting, and wait in their subscribers'
# queues if need be: before the next large one, the pipeline is idle again, so it has
# processed them all.
GATED_TYPES = ('sensor_msgs/msg/Image', 'sensor_msgs/msg/CompressedImage',
'sensor_msgs/msg/PointCloud2', 'sensor_msgs/msg/LaserScan')
def _recorded_transient_local(offered_qos_profiles) -> bool:
"""Whether a topic was recorded with a TRANSIENT_LOCAL publisher.
rosbag2_py gives the recorded profiles as YAML text (humble; the durability as a
number, 1, or a name, transient_local, depending on the bag's version), or as its own
QoS objects (lyrical), whose durability() only sets it: those are converted to rclpy's.
"""
profiles = offered_qos_profiles
if isinstance(profiles, str):
profiles = yaml.safe_load(profiles) if profiles.strip() else []
for profile in profiles or []:
if isinstance(profile, dict):
durability = profile.get('durability')
else:
if not isinstance(profile, QoSProfile) and hasattr(rosbag2_py, 'convert_rclcpp_qos_to_rclpy_qos'):
profile = rosbag2_py.convert_rclcpp_qos_to_rclpy_qos(profile)
durability = getattr(profile, 'durability', None)
if durability in (1, DurabilityPolicy.TRANSIENT_LOCAL) or str(durability).lower() in (
'transient_local', 'durabilitypolicy.transient_local'):
return True
return False
def _read_stat(path: str):
with open(path) as f:
stat = f.read()
# The command name is in parentheses and may itself hold spaces or parentheses.
name = stat[stat.index('(') + 1:stat.rindex(')')]
return name, stat[stat.rindex(')') + 2:].split()
def _read_next(reader):
"""The next message of @p reader: topic, serialized data and receive timestamp.
read_next_ext() (Lyrical and later) also returns the send timestamp; read_next(),
deprecated there, warns at each message.
"""
if hasattr(reader, 'read_next_ext'):
return reader.read_next_ext()[:3]
return reader.read_next()
class ProcessTree:
"""The processes started under a root process (the `ros2 launch` one)."""
def __init__(self, root_pid: int):
self.root_pid = root_pid
self._pids: List[int] = []
self._refreshed = 0.0
# Each thread's stat file, kept open: re-reading it (pread) is a fraction of the
# cost of opening it again, at each poll, for hundreds of threads.
self._stat_fds: Dict[Tuple[int, str], int] = {}
def pids(self) -> List[int]:
# Nodes start in the first seconds and component containers may spawn later;
# walking /proc is the expensive part, so it is not done on every poll.
if time.monotonic() - self._refreshed > 1.0:
children: Dict[int, List[int]] = {}
for entry in os.listdir('/proc'):
if entry.isdigit():
try:
_, fields = _read_stat(f'/proc/{entry}/stat')
except (OSError, ValueError):
continue
children.setdefault(int(fields[1]), []).append(int(entry))
pids, todo = [], [self.root_pid]
while todo:
for child in children.get(todo.pop(), []):
pids.append(child)
todo.append(child)
self._pids = pids
self._refreshed = time.monotonic()
return self._pids
def busy_threads(self) -> List[str]:
"""Threads of the tree's processes (not of the root) that have work to do."""
busy = []
alive = set()
for pid in self.pids():
try:
# Listed at every poll (cheap): a thread started since is watched at once.
tids = os.listdir(f'/proc/{pid}/task')
except OSError:
continue
for tid in tids:
key = (pid, tid)
alive.add(key)
fd = self._stat_fds.get(key)
try:
if fd is None:
fd = os.open(f'/proc/{pid}/task/{tid}/stat', os.O_RDONLY)
self._stat_fds[key] = fd
stat = os.pread(fd, 512, 0)
except OSError:
continue
# The state follows the command name, which is in parentheses and may
# itself hold spaces or parentheses.
end = stat.rfind(b')')
if end < 0 or end + 2 >= len(stat):
continue
state = chr(stat[end + 2])
# R: running or runnable. D: in an uninterruptible wait, writing the
# database for instance -- busy as well. S, I, T, Z: nothing to do.
if state in ('R', 'D'):
name = stat[stat.find(b'(') + 1:end].decode(errors='replace')
busy.append(f'{pid}/{name}:{state}')
for key in [k for k in self._stat_fds if k not in alive]:
os.close(self._stat_fds.pop(key))
return busy
def wait_idle(self, idle_polls: int = 2, period: float = 0.002, timeout: float = 300.0):
"""Wait until idle_polls polls in a row see no busy thread.
A single quiet poll is not enough: timers wake threads briefly, and a message
in flight between two nodes leaves a gap of a few microseconds where both
sleep. Two, a period apart, cover a few milliseconds; a longer gap seen as idle
only lets the next message out early, to wait in its subscriber's queue. Raises
TimeoutError, naming the busy threads, if never idle.
"""
deadline = time.monotonic() + timeout
quiet = 0
polls = 0
# How often each thread was seen busy: one that keeps waking up (a timer) can keep
# the pipeline from ever looking idle long enough, without being busy at the last
# poll.
seen = collections.Counter()
while quiet < idle_polls:
if time.monotonic() > deadline:
most = ', '.join(f'{name} ({count})' for name, count in seen.most_common(5))
raise TimeoutError(
f'never idle for {idle_polls} polls in a row after {timeout:.0f} s; '
f'busy most often, of {polls} polls: {most}')
busy = self.busy_threads()
polls += 1
seen.update(busy)
quiet = 0 if busy else quiet + 1
if quiet < idle_polls:
time.sleep(period)
class LockstepPlayer:
"""Publish a bag's messages, each sensor message once the pipeline is idle.
Several bags (a list) are played one after the other, as `ros2 bag play` of each in
turn would: the recordings of a session split in parts.
"""
def __init__(self, node: Node, bag_dir, tree: ProcessTree, lookahead: float = 0.2):
self.node = node
self.bag_dirs = [bag_dir] if isinstance(bag_dir, str) else list(bag_dir)
self.tree = tree
self.lookahead = lookahead
self.gated: Set[str] = set()
self._publishers = {}
self._types = {}
self._clock = node.create_publisher(Clock, '/clock', 10)
self._extra = [] # (release time, serialized TFMessage)
self._extra_tf = node.create_publisher(
TFMessage, '/tf', QoSProfile(depth=100, history=HistoryPolicy.KEEP_LAST,
reliability=ReliabilityPolicy.RELIABLE))
metas = {}
for bag in self.bag_dirs:
for meta in self._open(bag).get_all_topics_and_types():
metas.setdefault(meta.name, meta)
for meta in metas.values():
name = meta.name if meta.name.startswith('/') else '/' + meta.name
# Durability as recorded, as ros2 bag play does: a subscriber asking for
# TRANSIENT_LOCAL is not matched with a VOLATILE publisher (image_proc's, for
# camera info, with Fast DDS since lyrical). Always reliable, and deep, to
# lose nothing.
transient = name == '/tf_static' or _recorded_transient_local(meta.offered_qos_profiles)
qos = QoSProfile(depth=100, history=HistoryPolicy.KEEP_LAST,
reliability=ReliabilityPolicy.RELIABLE,
durability=(DurabilityPolicy.TRANSIENT_LOCAL if transient
else DurabilityPolicy.VOLATILE))
self._publishers[meta.name] = (
name, node.create_publisher(get_message(meta.type), name, qos))
self._types[meta.name] = meta.type
def add_trajectory(self, frame_id: str, child_frame_id: str, trajectory,
step: float = 0.25):
"""Publish (stamp, (x y z qx qy qz qw)) poses as frame_id -> child_frame_id.
The first and last poses are held to the bags' start and end, so that no lookup
falls outside of it: one would make the node wait for the transform, asleep,
looking idle. Poses are then added, interpolated as TF would (linearly, and by
slerp for the rotation), so that none are more than `step` seconds apart: TF
returns the same from them at any stamp.
TF interpolates between two samples, so a lookup at a stamp needs the sample after
it: each is sent 2 * step ahead of its stamp. A node may still look a stamp up
late (rtabmap, an intermediate node when the next node with data arrives) and a
TF buffer keeps 10 s: the trajectory's own gaps can be several seconds (a robot
standing still adds no nodes), and a lead covering them would leave it no slack.
"""
spans = []
for bag in self.bag_dirs:
metadata = self._open(bag).get_metadata()
begin = metadata.starting_time.nanoseconds / 1e9
spans.append((begin, begin + metadata.duration.nanoseconds / 1e9))
start, end = min(s for s, _ in spans), max(e for _, e in spans)
trajectory = sorted(trajectory)
if not trajectory:
return
trajectory = [(start, trajectory[0][1])] + trajectory + [(end, trajectory[-1][1])]
stamps = np.array([stamp for stamp, _ in trajectory])
poses = np.array([pose for _, pose in trajectory])
stamps, unique = np.unique(stamps, return_index=True)
poses = poses[unique]
dense = np.union1d(stamps, np.arange(stamps[0], stamps[-1], step))
xyz = np.stack([np.interp(dense, stamps, poses[:, k]) for k in range(3)], axis=1)
quaternions = Slerp(stamps, Rotation.from_quat(poses[:, 3:]))(dense).as_quat()
lead = 2 * step
for stamp, (x, y, z), (qx, qy, qz, qw) in zip(dense, xyz, quaternions):
ns = int(round(stamp * 1e9))
msg = TransformStamped()
msg.header.stamp = _to_time(ns)
msg.header.frame_id = frame_id
msg.child_frame_id = child_frame_id
t, r = msg.transform.translation, msg.transform.rotation
t.x, t.y, t.z, r.x, r.y, r.z, r.w = x, y, z, qx, qy, qz, qw
self._extra.append(
(ns - int(lead * 1e9), serialize_message(TFMessage(transforms=[msg]))))
@staticmethod
def _open(bag_dir: str):
reader = rosbag2_py.SequentialReader()
reader.open(rosbag2_py.StorageOptions(uri=bag_dir, storage_id='sqlite3'),
rosbag2_py.ConverterOptions('cdr', 'cdr'))
return reader
def connect(self, required: List[str], timeout: float = 60.0):
"""Wait for the pipeline to subscribe, then choose which topics to gate.
A reliable publisher still loses what it publishes before discovery has
matched it with a subscriber. Only topics something subscribes to are gated:
waiting after a message nobody reads would only slow the replay down.
"""
deadline = time.monotonic() + timeout
by_name = {name: pub for name, pub in self._publishers.values()}
for topic in required:
while by_name[topic].get_subscription_count() == 0:
if time.monotonic() > deadline:
raise TimeoutError(f'nothing subscribed to {topic} after {timeout:.0f} s')
time.sleep(0.1)
# Subscribers to the other topics are created by the same nodes, in the same
# constructors; leave discovery a moment to catch up with them too.
time.sleep(2.0)
def wait_matched(name, publisher):
while publisher.get_subscription_count() < self.node.count_subscribers(name):
if time.monotonic() > deadline:
# Usually a subscriber asking for a QoS this publisher cannot offer.
subscribers = '\n'.join(
f' {info.node_namespace.rstrip("/")}/{info.node_name}: '
f'{info.qos_profile.reliability.name}, '
f'{info.qos_profile.durability.name}, '
f'{info.qos_profile.history.name} {info.qos_profile.depth}'
for info in self.node.get_subscriptions_info_by_topic(name))
raise TimeoutError(
f'{name} matched with {publisher.get_subscription_count()} of its '
f'{self.node.count_subscribers(name)} subscribers:\n{subscribers}')
time.sleep(0.1)
# Discovery may not have found every subscriber yet, and what is published before
# a subscriber is matched never reaches it: the first transforms of the bag, say,
# which the first frames need. Wait until the subscribers this node knows of, and
# those each publisher is matched with, have not changed for a while.
def counts():
return tuple((self.node.count_subscribers(name), publisher.get_subscription_count())
for name, publisher in list(self._publishers.values()) +
[('/tf', self._extra_tf)])
stable_since, last = time.monotonic(), counts()
while time.monotonic() - stable_since < 2.0:
if time.monotonic() > deadline:
raise TimeoutError('discovery did not settle')
time.sleep(0.1)
current = counts()
if current != last:
stable_since, last = time.monotonic(), current
for bag_topic, (name, publisher) in self._publishers.items():
if self.node.count_subscribers(name) > 0:
# TF too: the first frames' transforms would otherwise be lost, or not,
# depending on when discovery got there.
wait_matched(name, publisher)
if self._types[bag_topic] in GATED_TYPES:
self.gated.add(bag_topic)
wait_matched('/tf', self._extra_tf)
def play(self, progress: Optional[Callable[[int, int], None]] = None,
idle_timeout: float = 300.0) -> int:
"""Publish the whole bag(s); returns the number of gated messages published."""
pending = [] # (release time, sequence, topic, data, bag time)
sequence = 0
for release_ns, data in self._extra:
heapq.heappush(pending, (release_ns, sequence, None, data, release_ns))
sequence += 1
clock_ns = 0
published = 0
gated_total = self._count_gated()
def release(until_ns):
nonlocal clock_ns, published
while pending and pending[0][0] <= until_ns:
_, _, topic, data, t = heapq.heappop(pending)
if topic is None:
self._extra_tf.publish(data)
continue
_, publisher = self._publishers[topic]
if topic in self.gated:
# Also lets the TF listeners take in the TF released so far, before
# the frame needing it arrives: a node waiting for a transform
# sleeps, which would look idle.
self.tree.wait_idle(timeout=idle_timeout)
if t > clock_ns:
clock_ns = t
self._clock.publish(Clock(clock=_to_time(clock_ns)))
publisher.publish(data)
published += 1
if progress:
progress(published, gated_total)
else:
publisher.publish(data)
lookahead_ns = int(self.lookahead * 1e9)
for bag in self.bag_dirs:
reader = self._open(bag)
while reader.has_next():
topic, data, t = _read_next(reader)
# Sensor data is held back by the lookahead, so the TF of the next
# lookahead seconds goes out before it.
delay = lookahead_ns if topic in self.gated else 0
heapq.heappush(pending, (t + delay, sequence, topic, data, t))
sequence += 1
release(t)
release(float('inf'))
# A longer quiet than between two messages, for the last one. A node polling for
# its messages on a fast timer is never quiet that long (find_object_2d with
# Camera/4imageRate 0, as fast as possible: set a rate instead).
self.tree.wait_idle(idle_polls=50, timeout=idle_timeout)
return published
def play_chunked(self, done_stamp: Callable[[], float], chunk: float = 10.0,
slack: float = 2.0, stall_timeout: float = 30.0, rate: float = 1.0,
progress: Optional[Callable[[int, int], None]] = None) -> int:
"""Publish the whole bag(s) at their own pace (times `rate`), `chunk` seconds at a
time.
As `ros2 bag play`, but after each chunk, wait until the pipeline has caught up:
until done_stamp() (the stamp, in seconds, of the last output of its last node,
rtabmap's info for instance) is within `slack` seconds of the last sensor message
published. Waiting fails if done_stamp() stops moving for `stall_timeout` seconds,
as when a node crashed. Faster than play(), with no idle polling; but within a
chunk, a node slower than real time builds up a backlog in its queue, which must
be deep enough to hold it. Returns the number of gated messages published.
"""
pending = [] # (release time, sequence, topic, data, bag time)
sequence = 0
for release_ns, data in self._extra:
heapq.heappush(pending, (release_ns, sequence, None, data, release_ns))
sequence += 1
state = {'clock_ns': 0, 'published': 0, 'last_sensor_ns': 0, 'pace': None}
gated_total = self._count_gated()
chunk_ns = int(chunk * 1e9)
lookahead_ns = int(self.lookahead * 1e9)
def release(until_ns):
while pending and pending[0][0] <= until_ns:
release_ns, _, topic, data, t = heapq.heappop(pending)
# The bag's pace: from the wall time the chunk started at.
if state['pace'] is None:
state['pace'] = (time.monotonic(), release_ns)
wall, start_ns = state['pace']
delay = wall + (release_ns - start_ns) / 1e9 / rate - time.monotonic()
if delay > 0:
time.sleep(delay)
if topic is None:
self._extra_tf.publish(data)
continue
_, publisher = self._publishers[topic]
if topic in self.gated:
if t > state['clock_ns']:
state['clock_ns'] = t
self._clock.publish(Clock(clock=_to_time(t)))
publisher.publish(data)
state['last_sensor_ns'] = max(state['last_sensor_ns'], t)
state['published'] += 1
if progress:
progress(state['published'], gated_total)
else:
publisher.publish(data)
def wait_caught_up():
target = state['last_sensor_ns'] / 1e9 - slack
last, since = done_stamp(), time.monotonic()
while done_stamp() < target:
now, stamp = time.monotonic(), done_stamp()
if stamp != last:
last, since = stamp, now
elif now - since > stall_timeout:
raise TimeoutError(
f'the pipeline did not catch up: its last output is stamped '
f'{stamp:.3f}, {target - stamp:.1f} s short of the last sensor '
f'message published, and has not moved for {stall_timeout:.0f} s')
time.sleep(0.05)
state['pace'] = None # resume at the bag's pace from now
chunk_end = None
for bag in self.bag_dirs:
reader = self._open(bag)
while reader.has_next():
topic, data, t = _read_next(reader)
if chunk_end is None:
chunk_end = t + chunk_ns
elif t >= chunk_end:
release(chunk_end)
wait_caught_up()
chunk_end += chunk_ns
delay = lookahead_ns if topic in self.gated else 0
heapq.heappush(pending, (t + delay, sequence, topic, data, t))
sequence += 1
release(t)
release(float('inf'))
wait_caught_up()
return state['published']
def _count_gated(self) -> int:
return sum(t.message_count
for bag in self.bag_dirs
for t in self._open(bag).get_metadata().topics_with_message_count
if t.topic_metadata.name in self.gated)
def _to_time(ns: int):
from builtin_interfaces.msg import Time
return Time(sec=ns // 1000000000, nanosec=ns % 1000000000)
rtabmap_demos/test/data/.gitignore
+4
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@@ -0,0 +1,4 @@
# Fetched by ../fetch_test_data.sh; only the manifest is committed.
*
!.gitignore
!manifest.txt
rtabmap_demos/test/data/manifest.txt
+26
View File
@@ -0,0 +1,26 @@
# Test data assets fetched by rtabmap_demos/test/fetch_test_data.sh.
# Format: <basename>\t<url>\t<sha256>[\t<extracted>]
# - basename is the file's name on disk under this directory.
# - url is a full http(s):// URL; the bags are assets of the rtabmap_ros GitHub releases.
# - sha256 must match the bytes of the file the tests read (compute with
# `sha256sum file.db3`), which for an archive is the file it holds rather than
# the archive itself: a corrupt archive is caught by the extractor. Leave as
# 3a55cb8344e5d555459da5fc3a9ab55ceaad8a0c6bef8d8ac6fff6cc65c8b614 to bypass the integrity check on first download then paste
# the actual hash back in.
# - extracted is optional and only for archives (.zip): the file the archive holds,
# relative to this directory. A bag archive holds a whole bag directory (the .db3
# and its metadata.yaml); the .db3 is the file named here. The archive is removed
# once extracted, so this file is both what the sha256 is of and what tells the
# script the asset is already there.
#
# Lines starting with '#' and blank lines are ignored.
demo_mapping_bag.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_mapping_bag.zip b233777634dea8207677d7a76d76718b43bc7043f03d061f6c332f12a9e07be8 demo_mapping_bag/demo_mapping.db3
stereo_outdoorA_bag.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorA_bag.zip e63533a750cfd02bff1640d140552c002264f31802baf9d0182c4140749cd45d stereo_outdoorA_bag/stereo_outdoorA.db3
stereo_outdoorB_bag.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorB_bag.zip 3a55cb8344e5d555459da5fc3a9ab55ceaad8a0c6bef8d8ac6fff6cc65c8b614 stereo_outdoorB_bag/stereo_outdoorB.db3
netherdrone_ouster_vertige_bag_0.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_0.zip f603088fb975a982f6e8d1f7c06b4c806eb9e97b6ba81d09eb42f07e85579402 netherdrone_ouster_vertige_bag_0/netherdrone_ouster_vertige_bag_0.db3
netherdrone_ouster_vertige_bag_1.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_1.zip 2e7983e055164ae88464af1295c0f16c8d7e81faecfd4c489f0c8c773a95bba0 netherdrone_ouster_vertige_bag_1/netherdrone_ouster_vertige_bag_1.db3
netherdrone_ouster_vertige_bag_2.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_2.zip 809f6008f4ea946f30767a962f02e05557070f897992fc9137821a6f924a8c92 netherdrone_ouster_vertige_bag_2/netherdrone_ouster_vertige_bag_2.db3
netherdrone_ouster_vertige_bag_3.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_3.zip 491ea215522e844a898e4e3875c85bcc7e8a67728ff5239afefc8ffe20d9d1ee netherdrone_ouster_vertige_bag_3/netherdrone_ouster_vertige_bag_3.db3
netherdrone_ouster_vertige_bag_4.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_4.zip 841b11ee7c0412f6add481f1da31930bfbdbfea634edeb5b8ebc2eb1705d4ea0 netherdrone_ouster_vertige_bag_4/netherdrone_ouster_vertige_bag_4.db3
netherdrone_ouster_vertige_bag_5.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_5.zip 7052f7d54ac632436d4fa4e443d8be40cd92f9271204c90d7c3c09e919b69861 netherdrone_ouster_vertige_bag_5/netherdrone_ouster_vertige_bag_5.db3
demo_find_object_bag.zip https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_find_object_bag.zip d4b37af28153b1dbd0649c91e004b342044c7268fb179aa3428a345f08da8691 demo_find_object_bag/demo_find_object.db3
rtabmap_demos/test/fetch_test_data.sh
Executable
+127
View File
@@ -0,0 +1,127 @@
#!/usr/bin/env bash
# Fetch the bags the demo playback tests replay, as listed in data/manifest.txt.
# Same manifest format as rtabmap's scripts/fetch_test_data.sh. An entry with a
# fourth column is a .zip, which is extracted into the data directory and then
# removed, its SHA-256 being the one of the file it holds. Skips files that are
# already present and whose SHA-256 matches the manifest.
#
# Usage: fetch_test_data.sh [basename...]
# With no argument, fetches every entry of the manifest; otherwise only the named
# ones (e.g. stereo_outdoorA_bag.zip), so a job can fetch just what it replays.
#
# The data goes next to the manifest, unless RTABMAP_DEMOS_TEST_DATA names another
# directory (a CI cache, or a disk with room: the bags are several GB). The tests
# read the same variable.
set -euo pipefail
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
MANIFEST="${SCRIPT_DIR}/data/manifest.txt"
DEST_DIR="${RTABMAP_DEMOS_TEST_DATA:-${SCRIPT_DIR}/data}"
if [[ ! -f "$MANIFEST" ]]; then
echo "Error: manifest not found at $MANIFEST" >&2
exit 1
fi
mkdir -p "$DEST_DIR"
sha256_of() { sha256sum "$1" | awk '{print $1}'; }
# unzip where there is one, python3's zipfile where there is not (slim ROS images).
extract_zip() {
local archive="$1"
if command -v unzip >/dev/null 2>&1; then
unzip -o -q "$archive" -d "$DEST_DIR"
else
python3 -m zipfile -e "$archive" "$DEST_DIR"
fi
}
verify_sha() {
local file="$1" expected="$2"
if [[ "$expected" == "TODO_FILL_SHA256" || -z "$expected" ]]; then
echo " (no SHA in manifest yet for $file; skipping integrity check)" >&2
echo " sha256: $(sha256_of "$file")" >&2
return 0
fi
local actual
actual="$(sha256_of "$file")"
if [[ "$actual" != "$expected" ]]; then
echo " SHA mismatch for $file: expected $expected, got $actual" >&2
return 1
fi
}
wanted() {
local name="$1"
[[ $# -eq 0 || ${#REQUESTED[@]} -eq 0 ]] && return 0
for r in "${REQUESTED[@]}"; do
[[ "$r" == "$name" ]] && return 0
done
return 1
}
REQUESTED=("$@")
found=()
while IFS=$'\t' read -r name url expected_sha extracted; do
name="${name%$'\r'}"
url="${url%$'\r'}"
expected_sha="${expected_sha%$'\r'}"
extracted="${extracted-}"
extracted="${extracted%$'\r'}"
# Skip comments and blank lines.
[[ -z "${name// }" || "$name" =~ ^# ]] && continue
wanted "$name" || continue
found+=("$name")
target="$DEST_DIR/$name"
# An archive is not kept once it is extracted, so what has to be there, and
# what the sha is of, is the file it held.
kept="${extracted:-$name}"
if [[ -f "$DEST_DIR/$kept" ]] && verify_sha "$DEST_DIR/$kept" "$expected_sha" 2>/dev/null; then
echo "Already up-to-date: $kept"
continue
fi
echo "Fetching $name <- $url"
# -L follows the redirect to the release storage, -f fails on HTTP errors, -S
# shows errors on stderr. Retries cover the odd dropped connection on a GB file,
# and -C - resumes a .partial an interrupted run left behind; the SHA check
# below catches a partial that does not belong to this file.
curl -fsSL --retry 3 --retry-delay 5 -C - "$url" -o "$target.partial"
if [[ -z "$extracted" ]]; then
if ! verify_sha "$target.partial" "$expected_sha"; then
rm -f "$target.partial"
exit 1
fi
mv -f "$target.partial" "$target"
else
mv -f "$target.partial" "$target"
echo " Extracting $name"
if ! extract_zip "$target"; then
rm -f "$target"
exit 1
fi
# The archive has served its purpose, and these are large files.
rm -f "$target"
if [[ ! -f "$DEST_DIR/$extracted" ]]; then
echo " $name does not hold $extracted" >&2
exit 1
fi
if ! verify_sha "$DEST_DIR/$extracted" "$expected_sha"; then
rm -f "$DEST_DIR/$extracted"
exit 1
fi
echo " Extracted $extracted ($(du -h "$DEST_DIR/$extracted" | cut -f1))"
fi
done < "$MANIFEST"
for r in "${REQUESTED[@]}"; do
if [[ ! " ${found[*]} " == *" $r "* ]]; then
echo "Error: $r is not in $MANIFEST" >&2
exit 1
fi
done
echo "Test data ready under $DEST_DIR"
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+705
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VERTEX_SE3:QUAT 522 -2.553928 -0.129973 0.005536 0.002844 -0.003061 0.007950 0.999960
VERTEX_SE3:QUAT 523 -2.160806 -0.123818 0.005523 0.005921 -0.005669 0.006941 0.999942
VERTEX_SE3:QUAT 524 -1.776202 -0.120779 0.009273 0.006342 -0.003542 0.005080 0.999961
VERTEX_SE3:QUAT 525 -1.372230 -0.108044 0.008401 0.006051 0.000302 0.045204 0.998959
VERTEX_SE3:QUAT 526 -0.954243 -0.055700 0.004468 0.005021 0.004963 0.072672 0.997331
VERTEX_SE3:QUAT 527 -0.599429 -0.007503 0.001811 0.004085 0.001593 0.057373 0.998343
VERTEX_SE3:QUAT 528 -0.248105 0.023860 0.001367 0.002333 0.000096 0.030308 0.999538
VERTEX_SE3:QUAT 529 0.106615 0.045166 -0.000073 0.000881 -0.002174 0.019533 0.999806
VERTEX_SE3:QUAT 530 0.409184 0.059367 -0.002466 -0.001186 0.000729 0.001534 0.999998
VERTEX_SE3:QUAT 531 0.539304 0.059408 -0.002721 -0.002739 0.002421 -0.007578 0.999965
EDGE_SE3:QUAT 1 4 0.297508 -0.007297 -0.000499 -0.000732 0.001328 -0.004405 0.999989 11608.253993 0.000000 0.000000 0.000000 0.000000 0.000000 11608.253993 0.000000 0.000000 0.000000 0.000000 11608.253993 0.000000 0.000000 0.000000 1986.025441 0.000000 0.000000 1986.025441 0.000000 1986.025441 0
EDGE_SE3:QUAT 1 199 -0.023634 0.111219 0.000726 0.000556 -0.000224 -0.002942 0.999996 2714.392606 0.000000 0.000000 0.000000 0.000000 0.000000 2714.392606 0.000000 0.000000 0.000000 0.000000 2714.392606 0.000000 0.000000 0.000000 236.599499 0.000000 0.000000 236.599499 0.000000 236.599499 1
EDGE_SE3:QUAT 1 208 0.081375 0.111813 0.000458 0.000301 0.000304 -0.006115 0.999981 1252.936024 0.000000 0.000000 0.000000 0.000000 0.000000 1252.936024 0.000000 0.000000 0.000000 0.000000 1252.936024 0.000000 0.000000 0.000000 148.224302 0.000000 0.000000 148.224302 0.000000 148.224302 1
EDGE_SE3:QUAT 1 528 -0.246595 0.023201 0.000923 0.001921 0.000586 0.029598 0.999560 2275.022875 0.000000 0.000000 0.000000 0.000000 0.000000 2275.022875 0.000000 0.000000 0.000000 0.000000 2275.022875 0.000000 0.000000 0.000000 131.746801 0.000000 0.000000 131.746801 0.000000 131.746801 1
EDGE_SE3:QUAT 1 529 0.106346 0.046226 -0.000579 0.001567 -0.002155 0.018578 0.999824 3116.597790 0.000000 0.000000 0.000000 0.000000 0.000000 3116.597790 0.000000 0.000000 0.000000 0.000000 3116.597790 0.000000 0.000000 0.000000 157.463513 0.000000 0.000000 157.463513 0.000000 157.463513 2
EDGE_SE3:QUAT 4 5 0.405300 -0.007432 -0.004583 -0.003533 0.003455 -0.009664 0.999941 5307.790546 0.000000 0.000000 0.000000 0.000000 0.000000 5307.790546 0.000000 0.000000 0.000000 0.000000 5307.790546 0.000000 0.000000 0.000000 1963.838798 0.000000 0.000000 1963.838798 0.000000 1963.838798 0
EDGE_SE3:QUAT 4 195 -0.084341 -0.030815 -0.001477 -0.001230 -0.001772 -0.033499 0.999436 1044.682639 0.000000 0.000000 0.000000 0.000000 0.000000 1044.682639 0.000000 0.000000 0.000000 0.000000 1044.682639 0.000000 0.000000 0.000000 164.678102 0.000000 0.000000 164.678102 0.000000 164.678102 1
EDGE_SE3:QUAT 4 197 -0.073716 0.109126 -0.002943 -0.000364 -0.001871 -0.014777 0.999889 496.994773 0.000000 0.000000 0.000000 0.000000 0.000000 496.994773 0.000000 0.000000 0.000000 0.000000 496.994773 0.000000 0.000000 0.000000 127.364987 0.000000 0.000000 127.364987 0.000000 127.364987 1
EDGE_SE3:QUAT 4 209 -0.064150 0.116635 -0.001622 -0.000340 0.000467 -0.031729 0.999496 1252.396254 0.000000 0.000000 0.000000 0.000000 0.000000 1252.396254 0.000000 0.000000 0.000000 0.000000 1252.396254 0.000000 0.000000 0.000000 136.614401 0.000000 0.000000 136.614401 0.000000 136.614401 1
EDGE_SE3:QUAT 4 530 0.107778 0.065036 -0.000390 -0.000345 -0.000994 0.005646 0.999983 2281.584765 0.000000 0.000000 0.000000 0.000000 0.000000 2281.584765 0.000000 0.000000 0.000000 0.000000 2281.584765 0.000000 0.000000 0.000000 160.949653 0.000000 0.000000 160.949653 0.000000 160.949653 2
EDGE_SE3:QUAT 5 6 0.386804 -0.010187 0.000655 -0.001634 -0.002762 -0.024491 0.999695 5746.831023 0.000000 0.000000 0.000000 0.000000 0.000000 5746.831023 0.000000 0.000000 0.000000 0.000000 5746.831023 0.000000 0.000000 0.000000 1792.762076 0.000000 0.000000 1792.762076 0.000000 1792.762076 0
EDGE_SE3:QUAT 5 217 -0.224844 0.116509 -0.001163 0.001114 -0.001428 -0.008216 0.999965 781.553073 0.000000 0.000000 0.000000 0.000000 0.000000 781.553073 0.000000 0.000000 0.000000 0.000000 781.553073 0.000000 0.000000 0.000000 111.748388 0.000000 0.000000 111.748388 0.000000 111.748388 2
EDGE_SE3:QUAT 5 228 0.075773 0.118494 -0.001449 -0.001083 0.000570 -0.007971 0.999968 897.354892 0.000000 0.000000 0.000000 0.000000 0.000000 897.354892 0.000000 0.000000 0.000000 0.000000 897.354892 0.000000 0.000000 0.000000 98.201523 0.000000 0.000000 98.201523 0.000000 98.201523 1
EDGE_SE3:QUAT 5 531 -0.162014 0.076177 0.001730 -0.000311 -0.002270 0.005204 0.999984 1975.221318 0.000000 0.000000 0.000000 0.000000 0.000000 1975.221318 0.000000 0.000000 0.000000 0.000000 1975.221318 0.000000 0.000000 0.000000 192.160892 0.000000 0.000000 192.160892 0.000000 192.160892 2
EDGE_SE3:QUAT 6 7 0.383001 -0.044362 0.003777 -0.000622 -0.004720 -0.143229 0.989678 5069.006537 0.000000 0.000000 0.000000 0.000000 0.000000 5069.006537 0.000000 0.000000 0.000000 0.000000 5069.006537 0.000000 0.000000 0.000000 1881.991382 0.000000 0.000000 1881.991382 0.000000 1881.991382 0
EDGE_SE3:QUAT 6 229 -0.058092 0.122460 -0.000860 0.001609 0.000901 0.011665 0.999930 2305.646837 0.000000 0.000000 0.000000 0.000000 0.000000 2305.646837 0.000000 0.000000 0.000000 0.000000 2305.646837 0.000000 0.000000 0.000000 182.690667 0.000000 0.000000 182.690667 0.000000 182.690667 1
EDGE_SE3:QUAT 6 230 0.222756 0.127422 0.002891 -0.000005 -0.005811 0.004134 0.999975 723.873029 0.000000 0.000000 0.000000 0.000000 0.000000 723.873029 0.000000 0.000000 0.000000 0.000000 723.873029 0.000000 0.000000 0.000000 114.672812 0.000000 0.000000 114.672812 0.000000 114.672812 1
EDGE_SE3:QUAT 7 8 0.395680 -0.027199 0.000148 -0.001878 0.004759 -0.077795 0.996956 6051.569838 0.000000 0.000000 0.000000 0.000000 0.000000 6051.569838 0.000000 0.000000 0.000000 0.000000 6051.569838 0.000000 0.000000 0.000000 2057.387741 0.000000 0.000000 2057.387741 0.000000 2057.387741 0
EDGE_SE3:QUAT 7 231 0.127710 0.221790 -0.001540 0.003709 0.002067 0.135970 0.990704 1326.441010 0.000000 0.000000 0.000000 0.000000 0.000000 1326.441010 0.000000 0.000000 0.000000 0.000000 1326.441010 0.000000 0.000000 0.000000 129.188691 0.000000 0.000000 129.188691 0.000000 129.188691 1
EDGE_SE3:QUAT 7 232 0.473397 0.316570 0.005993 0.004171 0.005529 0.114669 0.993380 57.485622 0.000000 0.000000 0.000000 0.000000 0.000000 57.485622 0.000000 0.000000 0.000000 0.000000 57.485622 0.000000 0.000000 0.000000 184.472736 0.000000 0.000000 184.472736 0.000000 184.472736 1
EDGE_SE3:QUAT 8 9 0.428529 0.007740 -0.002092 0.003915 0.004871 -0.013063 0.999895 8419.434900 0.000000 0.000000 0.000000 0.000000 0.000000 8419.434900 0.000000 0.000000 0.000000 0.000000 8419.434900 0.000000 0.000000 0.000000 2583.441100 0.000000 0.000000 2583.441100 0.000000 2583.441100 0
EDGE_SE3:QUAT 9 10 0.454692 0.005054 0.000099 0.003767 -0.000515 -0.013172 0.999906 12684.616296 0.000000 0.000000 0.000000 0.000000 0.000000 12684.616296 0.000000 0.000000 0.000000 0.000000 12684.616296 0.000000 0.000000 0.000000 2583.441100 0.000000 0.000000 2583.441100 0.000000 2583.441100 0
EDGE_SE3:QUAT 10 11 0.494963 0.006008 0.002131 0.000960 -0.003938 -0.014385 0.999888 16330.768724 0.000000 0.000000 0.000000 0.000000 0.000000 16330.768724 0.000000 0.000000 0.000000 0.000000 16330.768724 0.000000 0.000000 0.000000 2945.469494 0.000000 0.000000 2945.469494 0.000000 2945.469494 0
EDGE_SE3:QUAT 11 12 0.525845 0.001452 -0.002379 -0.002089 -0.002102 -0.013657 0.999902 16660.982400 0.000000 0.000000 0.000000 0.000000 0.000000 16660.982400 0.000000 0.000000 0.000000 0.000000 16660.982400 0.000000 0.000000 0.000000 2746.718904 0.000000 0.000000 2746.718904 0.000000 2746.718904 0
EDGE_SE3:QUAT 12 13 0.490292 0.003734 0.005216 -0.003362 0.010826 -0.013652 0.999843 12419.705793 0.000000 0.000000 0.000000 0.000000 0.000000 12419.705793 0.000000 0.000000 0.000000 0.000000 12419.705793 0.000000 0.000000 0.000000 3104.748017 0.000000 0.000000 3104.748017 0.000000 3104.748017 0
EDGE_SE3:QUAT 13 14 0.497582 0.003760 -0.005220 -0.002208 0.023399 -0.016440 0.999589 11769.921570 0.000000 0.000000 0.000000 0.000000 0.000000 11769.921570 0.000000 0.000000 0.000000 0.000000 11769.921570 0.000000 0.000000 0.000000 2808.433434 0.000000 0.000000 2808.433434 0.000000 2808.433434 0
EDGE_SE3:QUAT 13 238 -0.149475 0.150512 0.002154 -0.008859 -0.011359 -0.134761 0.990773 3045.860696 0.000000 0.000000 0.000000 0.000000 0.000000 3045.860696 0.000000 0.000000 0.000000 0.000000 3045.860696 0.000000 0.000000 0.000000 138.107298 0.000000 0.000000 138.107298 0.000000 138.107298 2
EDGE_SE3:QUAT 13 239 0.263869 0.041140 -0.005586 -0.005665 0.017598 -0.146308 0.989066 2781.052148 0.000000 0.000000 0.000000 0.000000 0.000000 2781.052148 0.000000 0.000000 0.000000 0.000000 2781.052148 0.000000 0.000000 0.000000 176.046308 0.000000 0.000000 176.046308 0.000000 176.046308 2
EDGE_SE3:QUAT 14 15 0.525536 0.005078 0.002520 -0.008576 -0.019610 -0.005085 0.999758 21970.467844 0.000000 0.000000 0.000000 0.000000 0.000000 21970.467844 0.000000 0.000000 0.000000 0.000000 21970.467844 0.000000 0.000000 0.000000 3802.259062 0.000000 0.000000 3802.259062 0.000000 3802.259062 0
EDGE_SE3:QUAT 14 240 0.161930 -0.066694 0.000755 -0.011351 -0.004925 -0.115488 0.993232 4329.450311 0.000000 0.000000 0.000000 0.000000 0.000000 4329.450311 0.000000 0.000000 0.000000 0.000000 4329.450311 0.000000 0.000000 0.000000 147.295123 0.000000 0.000000 147.295123 0.000000 147.295123 2
EDGE_SE3:QUAT 15 16 0.526849 -0.001875 0.002275 0.009477 -0.014115 -0.012894 0.999772 26083.931329 0.000000 0.000000 0.000000 0.000000 0.000000 26083.931329 0.000000 0.000000 0.000000 0.000000 26083.931329 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 16 17 0.530455 0.008451 -0.008555 0.000308 -0.002990 0.016848 0.999854 19482.866679 0.000000 0.000000 0.000000 0.000000 0.000000 19482.866679 0.000000 0.000000 0.000000 0.000000 19482.866679 0.000000 0.000000 0.000000 4390.212214 0.000000 0.000000 4390.212214 0.000000 4390.212214 0
EDGE_SE3:QUAT 17 18 0.496378 0.014694 -0.012097 -0.012272 0.020463 0.010716 0.999658 5291.259663 0.000000 0.000000 0.000000 0.000000 0.000000 5291.259663 0.000000 0.000000 0.000000 0.000000 5291.259663 0.000000 0.000000 0.000000 2746.718904 0.000000 0.000000 2746.718904 0.000000 2746.718904 0
EDGE_SE3:QUAT 18 19 0.482005 0.011804 0.000655 -0.003079 -0.010769 -0.003660 0.999931 20788.072098 0.000000 0.000000 0.000000 0.000000 0.000000 20788.072098 0.000000 0.000000 0.000000 0.000000 20788.072098 0.000000 0.000000 0.000000 4977.740325 0.000000 0.000000 4977.740325 0.000000 4977.740325 0
EDGE_SE3:QUAT 19 20 0.310352 -0.023231 -0.001436 0.005806 0.005069 -0.101119 0.994844 24207.283339 0.000000 0.000000 0.000000 0.000000 0.000000 24207.283339 0.000000 0.000000 0.000000 0.000000 24207.283339 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 20 21 -0.003754 0.005316 0.000615 -0.002944 -0.003106 -0.117990 0.993006 22403.845250 0.000000 0.000000 0.000000 0.000000 0.000000 22403.845250 0.000000 0.000000 0.000000 0.000000 22403.845250 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 21 22 0.000010 0.002351 0.001152 0.000547 -0.004176 -0.099467 0.995032 14190.681441 0.000000 0.000000 0.000000 0.000000 0.000000 14190.681441 0.000000 0.000000 0.000000 0.000000 14190.681441 0.000000 0.000000 0.000000 4390.212214 0.000000 0.000000 4390.212214 0.000000 4390.212214 0
EDGE_SE3:QUAT 22 23 0.396327 0.006784 -0.000016 0.008009 -0.000085 -0.006248 0.999948 530.626553 0.000000 0.000000 0.000000 0.000000 0.000000 530.626553 0.000000 0.000000 0.000000 0.000000 530.626553 0.000000 0.000000 0.000000 1729.849277 0.000000 0.000000 1729.849277 0.000000 1729.849277 0
EDGE_SE3:QUAT 23 24 0.491072 -0.040626 -0.004449 0.008321 -0.012446 -0.102732 0.994596 163.205652 0.000000 0.000000 0.000000 0.000000 0.000000 163.205652 0.000000 0.000000 0.000000 0.000000 163.205652 0.000000 0.000000 0.000000 1541.945174 0.000000 0.000000 1541.945174 0.000000 1541.945174 0
EDGE_SE3:QUAT 24 25 0.291160 0.001681 -0.009589 -0.002071 0.021351 -0.014885 0.999659 7422.225517 0.000000 0.000000 0.000000 0.000000 0.000000 7422.225517 0.000000 0.000000 0.000000 0.000000 7422.225517 0.000000 0.000000 0.000000 2945.469494 0.000000 0.000000 2945.469494 0.000000 2945.469494 0
EDGE_SE3:QUAT 25 26 -0.002388 -0.000538 0.000406 0.002701 0.000643 0.089504 0.995983 13164.647972 0.000000 0.000000 0.000000 0.000000 0.000000 13164.647972 0.000000 0.000000 0.000000 0.000000 13164.647972 0.000000 0.000000 0.000000 4165.015055 0.000000 0.000000 4165.015055 0.000000 4165.015055 0
EDGE_SE3:QUAT 26 27 -0.003264 -0.014836 0.004785 -0.003255 0.002751 0.276940 0.960878 21019.465533 0.000000 0.000000 0.000000 0.000000 0.000000 21019.465533 0.000000 0.000000 0.000000 0.000000 21019.465533 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 27 29 0.403887 0.022094 0.007603 -0.006698 -0.025353 0.024623 0.999353 19770.273864 0.000000 0.000000 0.000000 0.000000 0.000000 19770.273864 0.000000 0.000000 0.000000 0.000000 19770.273864 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 29 30 0.388816 0.007239 -0.012406 -0.015492 0.014481 0.012080 0.999702 16128.483784 0.000000 0.000000 0.000000 0.000000 0.000000 16128.483784 0.000000 0.000000 0.000000 0.000000 16128.483784 0.000000 0.000000 0.000000 4977.740325 0.000000 0.000000 4977.740325 0.000000 4977.740325 0
EDGE_SE3:QUAT 30 31 0.430616 0.005881 0.000788 0.016964 -0.008960 -0.003914 0.999808 9099.387671 0.000000 0.000000 0.000000 0.000000 0.000000 9099.387671 0.000000 0.000000 0.000000 0.000000 9099.387671 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 31 32 0.406696 0.003071 -0.010039 0.009943 0.010395 -0.001888 0.999895 15208.751139 0.000000 0.000000 0.000000 0.000000 0.000000 15208.751139 0.000000 0.000000 0.000000 0.000000 15208.751139 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 32 33 0.448744 0.008460 -0.008847 -0.004248 0.020171 -0.004917 0.999775 10075.853547 0.000000 0.000000 0.000000 0.000000 0.000000 10075.853547 0.000000 0.000000 0.000000 0.000000 10075.853547 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 33 34 0.445852 0.004535 0.005910 -0.001820 -0.009720 -0.004226 0.999942 203.791287 0.000000 0.000000 0.000000 0.000000 0.000000 203.791287 0.000000 0.000000 0.000000 0.000000 203.791287 0.000000 0.000000 0.000000 1686.782909 0.000000 0.000000 1686.782909 0.000000 1686.782909 0
EDGE_SE3:QUAT 34 35 0.469223 -0.032725 -0.003126 -0.004669 -0.021682 -0.107564 0.993951 16303.812159 0.000000 0.000000 0.000000 0.000000 0.000000 16303.812159 0.000000 0.000000 0.000000 0.000000 16303.812159 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 35 36 0.442918 -0.078365 -0.012222 -0.000793 0.012722 -0.215348 0.976454 18785.162266 0.000000 0.000000 0.000000 0.000000 0.000000 18785.162266 0.000000 0.000000 0.000000 0.000000 18785.162266 0.000000 0.000000 0.000000 4977.740325 0.000000 0.000000 4977.740325 0.000000 4977.740325 0
EDGE_SE3:QUAT 36 37 0.460170 -0.059442 -0.000773 -0.001294 0.005421 -0.134778 0.990860 6600.898717 0.000000 0.000000 0.000000 0.000000 0.000000 6600.898717 0.000000 0.000000 0.000000 0.000000 6600.898717 0.000000 0.000000 0.000000 2808.433434 0.000000 0.000000 2808.433434 0.000000 2808.433434 0
EDGE_SE3:QUAT 37 38 0.506197 0.011832 -0.000537 0.004106 -0.014972 0.024553 0.999578 8218.284427 0.000000 0.000000 0.000000 0.000000 0.000000 8218.284427 0.000000 0.000000 0.000000 0.000000 8218.284427 0.000000 0.000000 0.000000 3293.020587 0.000000 0.000000 3293.020587 0.000000 3293.020587 0
EDGE_SE3:QUAT 38 39 0.495102 0.057280 -0.004405 0.004265 0.010986 0.129823 0.991467 11053.418639 0.000000 0.000000 0.000000 0.000000 0.000000 11053.418639 0.000000 0.000000 0.000000 0.000000 11053.418639 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 39 40 0.498240 0.057932 0.003041 0.003099 -0.012007 0.094231 0.995473 17420.384539 0.000000 0.000000 0.000000 0.000000 0.000000 17420.384539 0.000000 0.000000 0.000000 0.000000 17420.384539 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 40 41 0.489448 0.009474 -0.004774 0.002418 0.015565 0.005148 0.999863 17847.363856 0.000000 0.000000 0.000000 0.000000 0.000000 17847.363856 0.000000 0.000000 0.000000 0.000000 17847.363856 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 41 42 0.470149 0.011865 -0.002149 0.011541 0.008797 0.016844 0.999753 20429.680603 0.000000 0.000000 0.000000 0.000000 0.000000 20429.680603 0.000000 0.000000 0.000000 0.000000 20429.680603 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 42 43 0.505653 0.007745 0.005227 0.000937 -0.010461 0.004256 0.999936 19215.670601 0.000000 0.000000 0.000000 0.000000 0.000000 19215.670601 0.000000 0.000000 0.000000 0.000000 19215.670601 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 43 44 0.478160 0.007390 0.005065 -0.014252 -0.006912 -0.007453 0.999847 14168.643930 0.000000 0.000000 0.000000 0.000000 0.000000 14168.643930 0.000000 0.000000 0.000000 0.000000 14168.643930 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 44 45 0.466756 -0.011991 -0.003353 -0.005994 -0.018051 -0.045059 0.998803 37230.862029 0.000000 0.000000 0.000000 0.000000 0.000000 37230.862029 0.000000 0.000000 0.000000 0.000000 37230.862029 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 45 46 0.451410 -0.001764 -0.006367 -0.000723 -0.000134 -0.027553 0.999620 43210.846494 0.000000 0.000000 0.000000 0.000000 0.000000 43210.846494 0.000000 0.000000 0.000000 0.000000 43210.846494 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 46 47 0.390112 -0.044005 -0.006634 0.000647 -0.002549 -0.156657 0.987650 39079.605135 0.000000 0.000000 0.000000 0.000000 0.000000 39079.605135 0.000000 0.000000 0.000000 0.000000 39079.605135 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 47 48 0.261611 -0.029802 -0.007648 0.006760 -0.010394 -0.109086 0.993955 30830.216720 0.000000 0.000000 0.000000 0.000000 0.000000 30830.216720 0.000000 0.000000 0.000000 0.000000 30830.216720 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 48 49 0.233423 0.003810 -0.001449 -0.004036 0.003839 -0.008197 0.999951 24669.360601 0.000000 0.000000 0.000000 0.000000 0.000000 24669.360601 0.000000 0.000000 0.000000 0.000000 24669.360601 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 49 50 0.182913 0.020706 -0.004876 -0.003772 0.000854 0.112031 0.993697 34010.581753 0.000000 0.000000 0.000000 0.000000 0.000000 34010.581753 0.000000 0.000000 0.000000 0.000000 34010.581753 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 50 51 0.204780 0.022119 -0.004921 -0.005802 0.009891 0.083878 0.996410 37380.196301 0.000000 0.000000 0.000000 0.000000 0.000000 37380.196301 0.000000 0.000000 0.000000 0.000000 37380.196301 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 51 52 0.252023 0.010280 0.000263 -0.004852 -0.024944 0.068640 0.997318 26367.469464 0.000000 0.000000 0.000000 0.000000 0.000000 26367.469464 0.000000 0.000000 0.000000 0.000000 26367.469464 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 52 53 0.265150 0.030724 -0.002430 0.003091 -0.005213 0.145265 0.989374 19511.136691 0.000000 0.000000 0.000000 0.000000 0.000000 19511.136691 0.000000 0.000000 0.000000 0.000000 19511.136691 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 53 54 0.272434 0.059311 -0.004916 0.009545 0.011074 0.237090 0.971378 13297.617499 0.000000 0.000000 0.000000 0.000000 0.000000 13297.617499 0.000000 0.000000 0.000000 0.000000 13297.617499 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 54 55 0.281584 0.056349 -0.007864 0.003312 0.002828 0.179705 0.983711 15400.875382 0.000000 0.000000 0.000000 0.000000 0.000000 15400.875382 0.000000 0.000000 0.000000 0.000000 15400.875382 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 55 57 0.038897 0.023250 0.008357 0.008928 0.005737 -0.394250 0.918942 9255.837188 0.000000 0.000000 0.000000 0.000000 0.000000 9255.837188 0.000000 0.000000 0.000000 0.000000 9255.837188 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 57 58 0.001324 0.006363 -0.007444 -0.005616 -0.011856 -0.277801 0.960549 15462.305430 0.000000 0.000000 0.000000 0.000000 0.000000 15462.305430 0.000000 0.000000 0.000000 0.000000 15462.305430 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 58 60 0.105289 -0.004374 0.004452 -0.008391 -0.003177 0.003691 0.999953 54125.834107 0.000000 0.000000 0.000000 0.000000 0.000000 54125.834107 0.000000 0.000000 0.000000 0.000000 54125.834107 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 60 61 0.169293 0.015171 -0.006389 0.010990 -0.009299 0.090582 0.995785 26781.762556 0.000000 0.000000 0.000000 0.000000 0.000000 26781.762556 0.000000 0.000000 0.000000 0.000000 26781.762556 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 61 62 0.208760 0.013923 -0.000443 -0.003405 -0.007308 0.068680 0.997606 10245.362260 0.000000 0.000000 0.000000 0.000000 0.000000 10245.362260 0.000000 0.000000 0.000000 0.000000 10245.362260 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 62 63 0.260212 0.032780 -0.004477 0.006035 -0.004022 0.143146 0.989675 7524.653513 0.000000 0.000000 0.000000 0.000000 0.000000 7524.653513 0.000000 0.000000 0.000000 0.000000 7524.653513 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 63 64 0.277712 0.018688 -0.005762 0.002198 -0.008634 0.000223 0.999960 7595.798914 0.000000 0.000000 0.000000 0.000000 0.000000 7595.798914 0.000000 0.000000 0.000000 0.000000 7595.798914 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 64 65 0.262754 -0.030156 -0.007478 -0.009837 -0.009205 -0.176013 0.984296 5662.035947 0.000000 0.000000 0.000000 0.000000 0.000000 5662.035947 0.000000 0.000000 0.000000 0.000000 5662.035947 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 65 66 0.291431 -0.003621 -0.010686 -0.005630 0.002474 -0.077855 0.996946 6676.516786 0.000000 0.000000 0.000000 0.000000 0.000000 6676.516786 0.000000 0.000000 0.000000 0.000000 6676.516786 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 66 67 0.259247 0.000628 -0.008758 0.005695 0.005352 -0.045480 0.998935 11405.580309 0.000000 0.000000 0.000000 0.000000 0.000000 11405.580309 0.000000 0.000000 0.000000 0.000000 11405.580309 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 67 68 0.280802 0.026343 -0.013542 0.021022 0.020907 0.097040 0.994839 18361.474225 0.000000 0.000000 0.000000 0.000000 0.000000 18361.474225 0.000000 0.000000 0.000000 0.000000 18361.474225 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 68 69 0.284719 0.044374 -0.008946 0.005704 0.015745 0.119226 0.992726 11821.841415 0.000000 0.000000 0.000000 0.000000 0.000000 11821.841415 0.000000 0.000000 0.000000 0.000000 11821.841415 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 69 70 0.237106 0.001596 -0.002427 0.003801 -0.003197 0.017881 0.999828 6824.427093 0.000000 0.000000 0.000000 0.000000 0.000000 6824.427093 0.000000 0.000000 0.000000 0.000000 6824.427093 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 70 71 0.239481 0.017548 -0.001740 0.002255 0.010755 0.084660 0.996349 8071.816404 0.000000 0.000000 0.000000 0.000000 0.000000 8071.816404 0.000000 0.000000 0.000000 0.000000 8071.816404 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 71 72 0.253283 0.042399 0.000316 -0.003407 -0.000780 0.175970 0.984389 23535.930990 0.000000 0.000000 0.000000 0.000000 0.000000 23535.930990 0.000000 0.000000 0.000000 0.000000 23535.930990 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 72 73 0.265955 0.048028 -0.012991 -0.005022 0.027541 0.172848 0.984551 21470.636546 0.000000 0.000000 0.000000 0.000000 0.000000 21470.636546 0.000000 0.000000 0.000000 0.000000 21470.636546 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 73 74 0.233459 0.000504 0.000216 -0.005658 0.020021 0.019682 0.999590 19705.198799 0.000000 0.000000 0.000000 0.000000 0.000000 19705.198799 0.000000 0.000000 0.000000 0.000000 19705.198799 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 74 75 0.278874 0.001980 0.000698 0.001654 -0.023567 0.005047 0.999708 30125.365636 0.000000 0.000000 0.000000 0.000000 0.000000 30125.365636 0.000000 0.000000 0.000000 0.000000 30125.365636 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 75 76 0.262432 0.001980 -0.003829 -0.006251 0.001644 0.001726 0.999978 39048.975548 0.000000 0.000000 0.000000 0.000000 0.000000 39048.975548 0.000000 0.000000 0.000000 0.000000 39048.975548 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 76 77 0.286685 0.007781 -0.009746 0.006206 0.013227 0.013413 0.999803 49043.681291 0.000000 0.000000 0.000000 0.000000 0.000000 49043.681291 0.000000 0.000000 0.000000 0.000000 49043.681291 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 77 81 0.081246 0.020528 -0.000842 0.002137 -0.005094 -0.169300 0.985549 57940.561692 0.000000 0.000000 0.000000 0.000000 0.000000 57940.561692 0.000000 0.000000 0.000000 0.000000 57940.561692 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 81 82 -0.004274 0.017956 0.003409 -0.012981 -0.007355 -0.373121 0.927663 16938.387303 0.000000 0.000000 0.000000 0.000000 0.000000 16938.387303 0.000000 0.000000 0.000000 0.000000 16938.387303 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 82 83 -0.002026 0.021739 -0.003664 -0.000413 0.010313 -0.404914 0.914296 8596.139139 0.000000 0.000000 0.000000 0.000000 0.000000 8596.139139 0.000000 0.000000 0.000000 0.000000 8596.139139 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 83 84 0.002123 0.005993 0.002174 0.001555 -0.012810 -0.385348 0.922681 30096.213910 0.000000 0.000000 0.000000 0.000000 0.000000 30096.213910 0.000000 0.000000 0.000000 0.000000 30096.213910 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 84 85 0.002151 0.010342 -0.000741 -0.015060 0.001280 -0.359493 0.933025 24532.462756 0.000000 0.000000 0.000000 0.000000 0.000000 24532.462756 0.000000 0.000000 0.000000 0.000000 24532.462756 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 85 86 0.002922 0.009495 0.001319 0.009185 0.006422 -0.278875 0.960262 33332.855684 0.000000 0.000000 0.000000 0.000000 0.000000 33332.855684 0.000000 0.000000 0.000000 0.000000 33332.855684 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 86 87 0.004143 0.006935 0.000357 0.000772 -0.005721 -0.168988 0.985601 47579.516376 0.000000 0.000000 0.000000 0.000000 0.000000 47579.516376 0.000000 0.000000 0.000000 0.000000 47579.516376 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 87 88 0.002045 0.005772 0.001214 -0.000014 -0.005434 -0.139457 0.990213 42399.215609 0.000000 0.000000 0.000000 0.000000 0.000000 42399.215609 0.000000 0.000000 0.000000 0.000000 42399.215609 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 88 89 -0.000051 0.000912 -0.000938 -0.002844 -0.006474 -0.082510 0.996565 44206.063947 0.000000 0.000000 0.000000 0.000000 0.000000 44206.063947 0.000000 0.000000 0.000000 0.000000 44206.063947 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 89 92 0.001983 -0.000486 -0.001541 -0.004812 -0.004785 -0.084169 0.996428 25613.098700 0.000000 0.000000 0.000000 0.000000 0.000000 25613.098700 0.000000 0.000000 0.000000 0.000000 25613.098700 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 92 93 -0.156120 -0.001265 -0.000399 0.001249 0.009277 -0.009052 0.999915 29792.416774 0.000000 0.000000 0.000000 0.000000 0.000000 29792.416774 0.000000 0.000000 0.000000 0.000000 29792.416774 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 92 114 0.286155 0.183463 -0.003622 -0.005368 0.003345 -0.228759 0.973462 3568.787590 0.000000 0.000000 0.000000 0.000000 0.000000 3568.787590 0.000000 0.000000 0.000000 0.000000 3568.787590 0.000000 0.000000 0.000000 200.898142 0.000000 0.000000 200.898142 0.000000 200.898142 2
EDGE_SE3:QUAT 93 94 -0.300858 0.022469 0.006792 0.002860 0.021187 -0.084509 0.996193 28098.627114 0.000000 0.000000 0.000000 0.000000 0.000000 28098.627114 0.000000 0.000000 0.000000 0.000000 28098.627114 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 94 95 -0.309299 0.066080 -0.014392 0.005206 -0.049502 -0.216846 0.974936 30167.606840 0.000000 0.000000 0.000000 0.000000 0.000000 30167.606840 0.000000 0.000000 0.000000 0.000000 30167.606840 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 95 96 -0.201971 0.011395 0.004697 -0.001605 0.003146 -0.049683 0.998759 40433.564927 0.000000 0.000000 0.000000 0.000000 0.000000 40433.564927 0.000000 0.000000 0.000000 0.000000 40433.564927 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 96 97 0.005619 -0.004282 0.005413 0.007907 0.008067 0.165125 0.986208 33892.623525 0.000000 0.000000 0.000000 0.000000 0.000000 33892.623525 0.000000 0.000000 0.000000 0.000000 33892.623525 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 97 98 0.004503 -0.013515 -0.003568 -0.000921 0.003402 0.320266 0.947321 27859.077646 0.000000 0.000000 0.000000 0.000000 0.000000 27859.077646 0.000000 0.000000 0.000000 0.000000 27859.077646 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 98 99 0.004981 -0.015153 -0.005221 0.002131 -0.000998 0.323490 0.946229 18180.811631 0.000000 0.000000 0.000000 0.000000 0.000000 18180.811631 0.000000 0.000000 0.000000 0.000000 18180.811631 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 99 100 0.002813 -0.013396 0.003161 0.007285 -0.000553 0.337986 0.941123 20483.537105 0.000000 0.000000 0.000000 0.000000 0.000000 20483.537105 0.000000 0.000000 0.000000 0.000000 20483.537105 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 100 101 0.020950 -0.001266 -0.002111 -0.003661 -0.001262 0.062971 0.998008 17226.110622 0.000000 0.000000 0.000000 0.000000 0.000000 17226.110622 0.000000 0.000000 0.000000 0.000000 17226.110622 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 101 102 0.280943 -0.002572 -0.004543 0.007599 -0.002859 0.024972 0.999655 10776.598129 0.000000 0.000000 0.000000 0.000000 0.000000 10776.598129 0.000000 0.000000 0.000000 0.000000 10776.598129 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 102 103 0.319741 0.016578 -0.004464 0.005955 0.003056 0.077165 0.996996 6302.869215 0.000000 0.000000 0.000000 0.000000 0.000000 6302.869215 0.000000 0.000000 0.000000 0.000000 6302.869215 0.000000 0.000000 0.000000 4165.015055 0.000000 0.000000 4165.015055 0.000000 4165.015055 0
EDGE_SE3:QUAT 103 104 0.145358 0.011408 -0.002635 0.002302 0.021201 0.103805 0.994369 3357.206208 0.000000 0.000000 0.000000 0.000000 0.000000 3357.206208 0.000000 0.000000 0.000000 0.000000 3357.206208 0.000000 0.000000 0.000000 2874.504194 0.000000 0.000000 2874.504194 0.000000 2874.504194 0
EDGE_SE3:QUAT 104 105 -0.001677 -0.009289 0.002278 -0.001417 0.002289 0.173824 0.984773 9024.041195 0.000000 0.000000 0.000000 0.000000 0.000000 9024.041195 0.000000 0.000000 0.000000 0.000000 9024.041195 0.000000 0.000000 0.000000 4390.212214 0.000000 0.000000 4390.212214 0.000000 4390.212214 0
EDGE_SE3:QUAT 105 106 -0.008271 -0.013834 0.007152 -0.002088 -0.008040 0.321034 0.947031 3168.102666 0.000000 0.000000 0.000000 0.000000 0.000000 3168.102666 0.000000 0.000000 0.000000 0.000000 3168.102666 0.000000 0.000000 0.000000 4390.212214 0.000000 0.000000 4390.212214 0.000000 4390.212214 0
EDGE_SE3:QUAT 106 107 0.000950 -0.005388 0.003234 0.008877 0.006094 0.367484 0.929968 6706.206234 0.000000 0.000000 0.000000 0.000000 0.000000 6706.206234 0.000000 0.000000 0.000000 0.000000 6706.206234 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 107 108 -0.000633 -0.011680 0.003596 -0.007278 0.004377 0.389929 0.920806 11385.813878 0.000000 0.000000 0.000000 0.000000 0.000000 11385.813878 0.000000 0.000000 0.000000 0.000000 11385.813878 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 108 109 0.006891 -0.012277 -0.003613 0.010256 -0.007568 0.399861 0.916487 27892.903929 0.000000 0.000000 0.000000 0.000000 0.000000 27892.903929 0.000000 0.000000 0.000000 0.000000 27892.903929 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 109 110 0.002515 -0.008984 -0.001763 0.005108 0.002285 0.206597 0.978410 11316.202940 0.000000 0.000000 0.000000 0.000000 0.000000 11316.202940 0.000000 0.000000 0.000000 0.000000 11316.202940 0.000000 0.000000 0.000000 4977.740325 0.000000 0.000000 4977.740325 0.000000 4977.740325 0
EDGE_SE3:QUAT 110 111 0.288437 0.000874 -0.000085 0.002750 0.016464 0.003420 0.999855 21376.789857 0.000000 0.000000 0.000000 0.000000 0.000000 21376.789857 0.000000 0.000000 0.000000 0.000000 21376.789857 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 111 112 0.465111 -0.016998 0.001449 0.007352 0.006837 -0.100746 0.994862 18425.000054 0.000000 0.000000 0.000000 0.000000 0.000000 18425.000054 0.000000 0.000000 0.000000 0.000000 18425.000054 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 112 113 0.456221 -0.047882 -0.003054 -0.002954 -0.003848 -0.084220 0.996435 38627.467383 0.000000 0.000000 0.000000 0.000000 0.000000 38627.467383 0.000000 0.000000 0.000000 0.000000 38627.467383 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 113 114 0.391272 0.049292 0.003005 -0.003432 -0.005712 0.147413 0.989053 25250.101599 0.000000 0.000000 0.000000 0.000000 0.000000 25250.101599 0.000000 0.000000 0.000000 0.000000 25250.101599 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 114 115 0.389863 0.049381 -0.000022 -0.010593 -0.005261 0.090036 0.995868 18465.891533 0.000000 0.000000 0.000000 0.000000 0.000000 18465.891533 0.000000 0.000000 0.000000 0.000000 18465.891533 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 115 116 0.366390 0.015570 -0.000247 0.001238 0.004138 0.031781 0.999486 13814.860921 0.000000 0.000000 0.000000 0.000000 0.000000 13814.860921 0.000000 0.000000 0.000000 0.000000 13814.860921 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 116 117 0.368484 0.006079 -0.000805 0.004775 -0.003156 0.006592 0.999962 35384.423419 0.000000 0.000000 0.000000 0.000000 0.000000 35384.423419 0.000000 0.000000 0.000000 0.000000 35384.423419 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 117 118 0.361750 0.016239 -0.003735 -0.002981 0.005472 0.066653 0.997757 74615.497285 0.000000 0.000000 0.000000 0.000000 0.000000 74615.497285 0.000000 0.000000 0.000000 0.000000 74615.497285 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 118 120 0.027059 -0.016333 0.002822 -0.000021 -0.004578 0.387120 0.922018 29160.411838 0.000000 0.000000 0.000000 0.000000 0.000000 29160.411838 0.000000 0.000000 0.000000 0.000000 29160.411838 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 120 121 -0.000477 -0.004692 0.000995 0.001089 -0.002989 0.101483 0.994832 35608.473643 0.000000 0.000000 0.000000 0.000000 0.000000 35608.473643 0.000000 0.000000 0.000000 0.000000 35608.473643 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 121 122 0.000702 -0.006554 -0.002559 0.003645 0.005190 0.154014 0.988048 46993.784724 0.000000 0.000000 0.000000 0.000000 0.000000 46993.784724 0.000000 0.000000 0.000000 0.000000 46993.784724 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 122 123 0.272890 -0.011994 -0.000388 0.006066 0.002957 -0.051841 0.998633 50965.127134 0.000000 0.000000 0.000000 0.000000 0.000000 50965.127134 0.000000 0.000000 0.000000 0.000000 50965.127134 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 123 124 0.400873 -0.091460 0.006412 0.018274 -0.009878 -0.258066 0.965904 23518.353063 0.000000 0.000000 0.000000 0.000000 0.000000 23518.353063 0.000000 0.000000 0.000000 0.000000 23518.353063 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 124 125 0.356695 -0.087167 -0.008635 -0.026113 0.012506 -0.263440 0.964241 47648.065603 0.000000 0.000000 0.000000 0.000000 0.000000 47648.065603 0.000000 0.000000 0.000000 0.000000 47648.065603 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 125 126 0.371294 0.009098 -0.002583 -0.028460 -0.010708 -0.044914 0.998528 41956.765679 0.000000 0.000000 0.000000 0.000000 0.000000 41956.765679 0.000000 0.000000 0.000000 0.000000 41956.765679 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 126 127 0.346021 0.007185 -0.002370 0.006622 0.009108 -0.016512 0.999800 16480.563106 0.000000 0.000000 0.000000 0.000000 0.000000 16480.563106 0.000000 0.000000 0.000000 0.000000 16480.563106 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 127 128 0.366276 -0.052874 0.008663 0.002148 -0.011197 -0.225989 0.974063 7430.189680 0.000000 0.000000 0.000000 0.000000 0.000000 7430.189680 0.000000 0.000000 0.000000 0.000000 7430.189680 0.000000 0.000000 0.000000 4165.015055 0.000000 0.000000 4165.015055 0.000000 4165.015055 0
EDGE_SE3:QUAT 128 129 0.327793 -0.074219 0.008767 -0.002654 -0.015044 -0.264079 0.964380 3644.337383 0.000000 0.000000 0.000000 0.000000 0.000000 3644.337383 0.000000 0.000000 0.000000 0.000000 3644.337383 0.000000 0.000000 0.000000 3194.730701 0.000000 0.000000 3194.730701 0.000000 3194.730701 0
EDGE_SE3:QUAT 129 130 0.383944 0.013878 -0.002911 0.009877 -0.006500 0.025180 0.999613 5969.151220 0.000000 0.000000 0.000000 0.000000 0.000000 5969.151220 0.000000 0.000000 0.000000 0.000000 5969.151220 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 130 131 0.338438 0.039072 -0.014224 0.005333 0.033672 0.101756 0.994225 5226.411767 0.000000 0.000000 0.000000 0.000000 0.000000 5226.411767 0.000000 0.000000 0.000000 0.000000 5226.411767 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 131 132 0.293633 0.010498 -0.002072 0.003288 0.008905 0.019161 0.999771 20901.199224 0.000000 0.000000 0.000000 0.000000 0.000000 20901.199224 0.000000 0.000000 0.000000 0.000000 20901.199224 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 132 133 -0.005504 0.008638 0.001998 0.002834 -0.006933 -0.152091 0.988338 44248.929279 0.000000 0.000000 0.000000 0.000000 0.000000 44248.929279 0.000000 0.000000 0.000000 0.000000 44248.929279 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 133 134 0.002675 0.022163 0.003504 -0.003589 -0.010067 -0.410768 0.911677 17858.519222 0.000000 0.000000 0.000000 0.000000 0.000000 17858.519222 0.000000 0.000000 0.000000 0.000000 17858.519222 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 134 135 -0.002422 0.013183 -0.003240 -0.012612 0.000633 -0.433170 0.901224 5275.949494 0.000000 0.000000 0.000000 0.000000 0.000000 5275.949494 0.000000 0.000000 0.000000 0.000000 5275.949494 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 135 136 0.002036 0.014211 -0.003814 -0.001353 -0.004732 -0.414144 0.910198 7768.249247 0.000000 0.000000 0.000000 0.000000 0.000000 7768.249247 0.000000 0.000000 0.000000 0.000000 7768.249247 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 136 137 0.006689 0.008135 -0.000964 -0.008478 0.006028 -0.423389 0.905888 22175.620508 0.000000 0.000000 0.000000 0.000000 0.000000 22175.620508 0.000000 0.000000 0.000000 0.000000 22175.620508 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 137 138 0.010977 0.010869 -0.000694 0.006467 -0.003131 -0.405287 0.914161 45089.331258 0.000000 0.000000 0.000000 0.000000 0.000000 45089.331258 0.000000 0.000000 0.000000 0.000000 45089.331258 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 138 139 0.002962 0.003410 -0.002716 -0.001521 -0.000701 -0.175109 0.984548 38169.336094 0.000000 0.000000 0.000000 0.000000 0.000000 38169.336094 0.000000 0.000000 0.000000 0.000000 38169.336094 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 139 140 0.238109 -0.016002 0.003632 -0.001066 -0.005133 -0.090107 0.995918 25094.353641 0.000000 0.000000 0.000000 0.000000 0.000000 25094.353641 0.000000 0.000000 0.000000 0.000000 25094.353641 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 140 141 0.312770 -0.012565 -0.001812 -0.010828 0.001978 -0.061689 0.998035 18749.331995 0.000000 0.000000 0.000000 0.000000 0.000000 18749.331995 0.000000 0.000000 0.000000 0.000000 18749.331995 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 141 142 0.386456 -0.010616 0.013565 -0.010105 -0.033483 -0.088250 0.995484 16771.803029 0.000000 0.000000 0.000000 0.000000 0.000000 16771.803029 0.000000 0.000000 0.000000 0.000000 16771.803029 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 142 143 0.407601 -0.003170 -0.006191 -0.000703 0.015144 -0.030341 0.999425 5387.202980 0.000000 0.000000 0.000000 0.000000 0.000000 5387.202980 0.000000 0.000000 0.000000 0.000000 5387.202980 0.000000 0.000000 0.000000 3520.307063 0.000000 0.000000 3520.307063 0.000000 3520.307063 0
EDGE_SE3:QUAT 143 144 0.355242 0.004436 -0.000152 0.009721 -0.005418 0.006041 0.999920 8506.748204 0.000000 0.000000 0.000000 0.000000 0.000000 8506.748204 0.000000 0.000000 0.000000 0.000000 8506.748204 0.000000 0.000000 0.000000 4165.015055 0.000000 0.000000 4165.015055 0.000000 4165.015055 0
EDGE_SE3:QUAT 144 147 0.097677 -0.000435 -0.002392 0.005099 0.004020 0.082694 0.996554 11361.805008 0.000000 0.000000 0.000000 0.000000 0.000000 11361.805008 0.000000 0.000000 0.000000 0.000000 11361.805008 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 147 148 0.002084 -0.012262 0.003294 -0.001850 0.007780 0.252107 0.967666 19228.406336 0.000000 0.000000 0.000000 0.000000 0.000000 19228.406336 0.000000 0.000000 0.000000 0.000000 19228.406336 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 148 149 0.001184 -0.007672 -0.002807 0.001898 -0.006022 0.172238 0.985035 27664.240150 0.000000 0.000000 0.000000 0.000000 0.000000 27664.240150 0.000000 0.000000 0.000000 0.000000 27664.240150 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 149 151 0.363560 0.021764 -0.000693 0.011586 0.006364 0.067890 0.997605 23254.483623 0.000000 0.000000 0.000000 0.000000 0.000000 23254.483623 0.000000 0.000000 0.000000 0.000000 23254.483623 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 151 152 0.359009 0.007322 -0.003194 0.002105 0.005543 0.013216 0.999895 14486.142757 0.000000 0.000000 0.000000 0.000000 0.000000 14486.142757 0.000000 0.000000 0.000000 0.000000 14486.142757 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 152 153 0.362429 0.008223 0.002711 -0.004045 -0.008546 0.011665 0.999887 29061.839285 0.000000 0.000000 0.000000 0.000000 0.000000 29061.839285 0.000000 0.000000 0.000000 0.000000 29061.839285 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 153 154 0.374418 -0.013218 -0.002481 -0.007962 -0.003065 -0.053617 0.998525 10051.856295 0.000000 0.000000 0.000000 0.000000 0.000000 10051.856295 0.000000 0.000000 0.000000 0.000000 10051.856295 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 154 155 0.400826 -0.002340 -0.004715 -0.002887 -0.003626 -0.020413 0.999781 16934.489712 0.000000 0.000000 0.000000 0.000000 0.000000 16934.489712 0.000000 0.000000 0.000000 0.000000 16934.489712 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 155 156 0.446640 0.000276 -0.000268 -0.002322 -0.008998 -0.008323 0.999922 12301.508235 0.000000 0.000000 0.000000 0.000000 0.000000 12301.508235 0.000000 0.000000 0.000000 0.000000 12301.508235 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 156 157 0.455851 0.018330 -0.005421 0.002384 0.006559 0.038476 0.999235 9765.516299 0.000000 0.000000 0.000000 0.000000 0.000000 9765.516299 0.000000 0.000000 0.000000 0.000000 9765.516299 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 157 158 0.465935 0.011225 -0.003006 -0.000735 0.001172 0.011682 0.999931 14771.161117 0.000000 0.000000 0.000000 0.000000 0.000000 14771.161117 0.000000 0.000000 0.000000 0.000000 14771.161117 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 158 159 0.489209 0.000209 -0.005882 0.006788 0.001262 0.012948 0.999892 8538.029789 0.000000 0.000000 0.000000 0.000000 0.000000 8538.029789 0.000000 0.000000 0.000000 0.000000 8538.029789 0.000000 0.000000 0.000000 4165.015055 0.000000 0.000000 4165.015055 0.000000 4165.015055 0
EDGE_SE3:QUAT 159 160 0.518304 0.004365 0.001303 0.001314 -0.000193 0.006506 0.999978 14990.138507 0.000000 0.000000 0.000000 0.000000 0.000000 14990.138507 0.000000 0.000000 0.000000 0.000000 14990.138507 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 160 161 0.519666 0.009906 -0.010153 -0.016952 0.001736 0.005280 0.999841 15770.232804 0.000000 0.000000 0.000000 0.000000 0.000000 15770.232804 0.000000 0.000000 0.000000 0.000000 15770.232804 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 161 162 0.513986 0.011932 -0.001434 0.008662 -0.004974 0.012814 0.999868 15005.267672 0.000000 0.000000 0.000000 0.000000 0.000000 15005.267672 0.000000 0.000000 0.000000 0.000000 15005.267672 0.000000 0.000000 0.000000 4977.740325 0.000000 0.000000 4977.740325 0.000000 4977.740325 0
EDGE_SE3:QUAT 162 163 0.512771 -0.002890 -0.012825 -0.006730 0.023143 -0.021183 0.999485 12637.975779 0.000000 0.000000 0.000000 0.000000 0.000000 12637.975779 0.000000 0.000000 0.000000 0.000000 12637.975779 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 163 164 0.525050 0.002474 0.013447 -0.005681 -0.020665 -0.011522 0.999704 13415.049792 0.000000 0.000000 0.000000 0.000000 0.000000 13415.049792 0.000000 0.000000 0.000000 0.000000 13415.049792 0.000000 0.000000 0.000000 4977.740325 0.000000 0.000000 4977.740325 0.000000 4977.740325 0
EDGE_SE3:QUAT 164 165 0.530904 -0.005852 -0.004528 0.008701 0.000286 -0.009830 0.999914 10000.763461 0.000000 0.000000 0.000000 0.000000 0.000000 10000.763461 0.000000 0.000000 0.000000 0.000000 10000.763461 0.000000 0.000000 0.000000 3520.307063 0.000000 0.000000 3520.307063 0.000000 3520.307063 0
EDGE_SE3:QUAT 165 166 0.518883 -0.002179 0.009743 0.000316 -0.029348 -0.011756 0.999500 12149.323185 0.000000 0.000000 0.000000 0.000000 0.000000 12149.323185 0.000000 0.000000 0.000000 0.000000 12149.323185 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 166 167 0.523634 -0.006093 -0.018365 0.019496 0.022298 -0.008411 0.999526 8077.109216 0.000000 0.000000 0.000000 0.000000 0.000000 8077.109216 0.000000 0.000000 0.000000 0.000000 8077.109216 0.000000 0.000000 0.000000 3194.730701 0.000000 0.000000 3194.730701 0.000000 3194.730701 0
EDGE_SE3:QUAT 167 168 0.528075 0.001800 -0.005911 0.002578 -0.005098 0.032045 0.999470 10891.103727 0.000000 0.000000 0.000000 0.000000 0.000000 10891.103727 0.000000 0.000000 0.000000 0.000000 10891.103727 0.000000 0.000000 0.000000 3802.259062 0.000000 0.000000 3802.259062 0.000000 3802.259062 0
EDGE_SE3:QUAT 168 169 0.531444 0.011026 0.003063 0.013267 -0.003667 0.018795 0.999729 14654.044938 0.000000 0.000000 0.000000 0.000000 0.000000 14654.044938 0.000000 0.000000 0.000000 0.000000 14654.044938 0.000000 0.000000 0.000000 3971.262987 0.000000 0.000000 3971.262987 0.000000 3971.262987 0
EDGE_SE3:QUAT 169 170 0.527323 -0.001013 0.001717 -0.005579 -0.014742 0.005641 0.999860 13795.561825 0.000000 0.000000 0.000000 0.000000 0.000000 13795.561825 0.000000 0.000000 0.000000 0.000000 13795.561825 0.000000 0.000000 0.000000 3653.146618 0.000000 0.000000 3653.146618 0.000000 3653.146618 0
EDGE_SE3:QUAT 170 171 0.539969 -0.029637 -0.020865 -0.022735 0.026434 -0.067948 0.997079 9488.028674 0.000000 0.000000 0.000000 0.000000 0.000000 9488.028674 0.000000 0.000000 0.000000 0.000000 9488.028674 0.000000 0.000000 0.000000 3520.307063 0.000000 0.000000 3520.307063 0.000000 3520.307063 0
EDGE_SE3:QUAT 171 172 0.537243 -0.009158 -0.004910 0.017064 0.000440 -0.015740 0.999730 21494.472424 0.000000 0.000000 0.000000 0.000000 0.000000 21494.472424 0.000000 0.000000 0.000000 0.000000 21494.472424 0.000000 0.000000 0.000000 4165.015055 0.000000 0.000000 4165.015055 0.000000 4165.015055 0
EDGE_SE3:QUAT 172 173 0.525910 -0.003989 0.009233 0.010363 -0.026625 0.003217 0.999587 20933.004075 0.000000 0.000000 0.000000 0.000000 0.000000 20933.004075 0.000000 0.000000 0.000000 0.000000 20933.004075 0.000000 0.000000 0.000000 3400.980409 0.000000 0.000000 3400.980409 0.000000 3400.980409 0
EDGE_SE3:QUAT 173 174 0.530829 0.009423 -0.018834 -0.006887 0.009931 0.012384 0.999850 10012.990167 0.000000 0.000000 0.000000 0.000000 0.000000 10012.990167 0.000000 0.000000 0.000000 0.000000 10012.990167 0.000000 0.000000 0.000000 2008.981417 0.000000 0.000000 2008.981417 0.000000 2008.981417 0
EDGE_SE3:QUAT 174 175 0.525136 0.007794 0.002811 0.001779 -0.008922 0.013058 0.999873 17662.264897 0.000000 0.000000 0.000000 0.000000 0.000000 17662.264897 0.000000 0.000000 0.000000 0.000000 17662.264897 0.000000 0.000000 0.000000 2446.201313 0.000000 0.000000 2446.201313 0.000000 2446.201313 0
EDGE_SE3:QUAT 175 176 0.528312 0.025603 -0.005675 0.008988 -0.011864 0.038099 0.999163 28470.707066 0.000000 0.000000 0.000000 0.000000 0.000000 28470.707066 0.000000 0.000000 0.000000 0.000000 28470.707066 0.000000 0.000000 0.000000 3971.262987 0.000000 0.000000 3971.262987 0.000000 3971.262987 0
EDGE_SE3:QUAT 176 177 0.516963 0.005725 -0.022381 -0.020215 0.025415 0.010744 0.999415 17078.894005 0.000000 0.000000 0.000000 0.000000 0.000000 17078.894005 0.000000 0.000000 0.000000 0.000000 17078.894005 0.000000 0.000000 0.000000 2634.589807 0.000000 0.000000 2634.589807 0.000000 2634.589807 0
EDGE_SE3:QUAT 177 178 0.507100 0.001285 -0.003213 -0.003524 -0.005542 0.009287 0.999935 29161.067351 0.000000 0.000000 0.000000 0.000000 0.000000 29161.067351 0.000000 0.000000 0.000000 0.000000 29161.067351 0.000000 0.000000 0.000000 2688.902394 0.000000 0.000000 2688.902394 0.000000 2688.902394 0
EDGE_SE3:QUAT 178 179 0.521136 0.010089 0.005534 0.006883 -0.017273 0.015586 0.999706 11705.013582 0.000000 0.000000 0.000000 0.000000 0.000000 11705.013582 0.000000 0.000000 0.000000 0.000000 11705.013582 0.000000 0.000000 0.000000 1521.250114 0.000000 0.000000 1521.250114 0.000000 1521.250114 0
EDGE_SE3:QUAT 179 180 0.508455 0.006906 0.001334 -0.001054 -0.019030 -0.000420 0.999818 6433.052840 0.000000 0.000000 0.000000 0.000000 0.000000 6433.052840 0.000000 0.000000 0.000000 0.000000 6433.052840 0.000000 0.000000 0.000000 987.516196 0.000000 0.000000 987.516196 0.000000 987.516196 0
EDGE_SE3:QUAT 180 181 0.497793 0.009206 -0.030618 -0.001298 0.031627 0.013255 0.999411 4328.791263 0.000000 0.000000 0.000000 0.000000 0.000000 4328.791263 0.000000 0.000000 0.000000 0.000000 4328.791263 0.000000 0.000000 0.000000 780.441885 0.000000 0.000000 780.441885 0.000000 780.441885 0
EDGE_SE3:QUAT 181 182 0.484322 0.004115 -0.012308 -0.006716 0.012908 0.003870 0.999887 6347.735672 0.000000 0.000000 0.000000 0.000000 0.000000 6347.735672 0.000000 0.000000 0.000000 0.000000 6347.735672 0.000000 0.000000 0.000000 902.751105 0.000000 0.000000 902.751105 0.000000 902.751105 0
EDGE_SE3:QUAT 182 183 0.453844 0.015785 -0.006266 0.001955 -0.000431 0.029262 0.999570 6660.239378 0.000000 0.000000 0.000000 0.000000 0.000000 6660.239378 0.000000 0.000000 0.000000 0.000000 6660.239378 0.000000 0.000000 0.000000 719.851830 0.000000 0.000000 719.851830 0.000000 719.851830 0
EDGE_SE3:QUAT 183 184 0.486985 0.021779 -0.001129 0.001732 -0.002960 0.039910 0.999197 8965.393413 0.000000 0.000000 0.000000 0.000000 0.000000 8965.393413 0.000000 0.000000 0.000000 0.000000 8965.393413 0.000000 0.000000 0.000000 892.339297 0.000000 0.000000 892.339297 0.000000 892.339297 0
EDGE_SE3:QUAT 184 185 0.471780 0.027981 -0.000403 0.002979 -0.004511 0.050846 0.998692 10754.018182 0.000000 0.000000 0.000000 0.000000 0.000000 10754.018182 0.000000 0.000000 0.000000 0.000000 10754.018182 0.000000 0.000000 0.000000 776.366737 0.000000 0.000000 776.366737 0.000000 776.366737 0
EDGE_SE3:QUAT 185 186 0.443067 0.028392 -0.004161 -0.001820 0.004759 0.052577 0.998604 14232.136065 0.000000 0.000000 0.000000 0.000000 0.000000 14232.136065 0.000000 0.000000 0.000000 0.000000 14232.136065 0.000000 0.000000 0.000000 764.514010 0.000000 0.000000 764.514010 0.000000 764.514010 0
EDGE_SE3:QUAT 186 187 0.433396 0.014326 -0.005735 0.002097 0.006159 0.018838 0.999801 16161.382179 0.000000 0.000000 0.000000 0.000000 0.000000 16161.382179 0.000000 0.000000 0.000000 0.000000 16161.382179 0.000000 0.000000 0.000000 874.472366 0.000000 0.000000 874.472366 0.000000 874.472366 0
EDGE_SE3:QUAT 187 188 0.420760 0.006213 0.000694 -0.001686 -0.005124 -0.031510 0.999489 15279.602489 0.000000 0.000000 0.000000 0.000000 0.000000 15279.602489 0.000000 0.000000 0.000000 0.000000 15279.602489 0.000000 0.000000 0.000000 618.360505 0.000000 0.000000 618.360505 0.000000 618.360505 0
EDGE_SE3:QUAT 188 189 0.320390 -0.047271 -0.001717 -0.004300 0.000055 -0.196973 0.980399 13808.650404 0.000000 0.000000 0.000000 0.000000 0.000000 13808.650404 0.000000 0.000000 0.000000 0.000000 13808.650404 0.000000 0.000000 0.000000 753.188019 0.000000 0.000000 753.188019 0.000000 753.188019 0
EDGE_SE3:QUAT 189 190 0.274051 -0.046753 -0.000018 0.000473 0.001645 -0.144864 0.989450 21920.128741 0.000000 0.000000 0.000000 0.000000 0.000000 21920.128741 0.000000 0.000000 0.000000 0.000000 21920.128741 0.000000 0.000000 0.000000 976.605089 0.000000 0.000000 976.605089 0.000000 976.605089 0
EDGE_SE3:QUAT 190 191 0.219715 -0.000481 -0.001061 0.000168 -0.000391 -0.024004 0.999712 49151.969810 0.000000 0.000000 0.000000 0.000000 0.000000 49151.969810 0.000000 0.000000 0.000000 0.000000 49151.969810 0.000000 0.000000 0.000000 1420.647713 0.000000 0.000000 1420.647713 0.000000 1420.647713 0
EDGE_SE3:QUAT 191 193 0.060734 0.015225 0.000324 -0.002167 -0.001035 -0.423415 0.905933 28657.990807 0.000000 0.000000 0.000000 0.000000 0.000000 28657.990807 0.000000 0.000000 0.000000 0.000000 28657.990807 0.000000 0.000000 0.000000 1291.886913 0.000000 0.000000 1291.886913 0.000000 1291.886913 0
EDGE_SE3:QUAT 193 194 0.006636 0.013232 -0.001138 -0.004366 -0.004866 -0.403892 0.914783 12454.270926 0.000000 0.000000 0.000000 0.000000 0.000000 12454.270926 0.000000 0.000000 0.000000 0.000000 12454.270926 0.000000 0.000000 0.000000 1291.886913 0.000000 0.000000 1291.886913 0.000000 1291.886913 0
EDGE_SE3:QUAT 194 195 0.003386 0.011502 -0.000470 -0.005509 0.001044 -0.282677 0.959199 8761.252159 0.000000 0.000000 0.000000 0.000000 0.000000 8761.252159 0.000000 0.000000 0.000000 0.000000 8761.252159 0.000000 0.000000 0.000000 1351.688986 0.000000 0.000000 1351.688986 0.000000 1351.688986 0
EDGE_SE3:QUAT 195 197 -0.000813 0.140423 0.000801 0.000535 0.000244 0.018972 0.999820 13620.938592 0.000000 0.000000 0.000000 0.000000 0.000000 13620.938592 0.000000 0.000000 0.000000 0.000000 13620.938592 0.000000 0.000000 0.000000 1472.951229 0.000000 0.000000 1472.951229 0.000000 1472.951229 0
EDGE_SE3:QUAT 197 199 -0.244740 0.000002 0.001499 0.001640 -0.000016 0.016037 0.999870 6739.880917 0.000000 0.000000 0.000000 0.000000 0.000000 6739.880917 0.000000 0.000000 0.000000 0.000000 6739.880917 0.000000 0.000000 0.000000 1187.936121 0.000000 0.000000 1187.936121 0.000000 1187.936121 0
EDGE_SE3:QUAT 199 208 0.106836 0.002053 -0.000143 -0.000569 0.000898 -0.003270 0.999994 6223.243090 0.000000 0.000000 0.000000 0.000000 0.000000 6223.243090 0.000000 0.000000 0.000000 0.000000 6223.243090 0.000000 0.000000 0.000000 1129.740484 0.000000 0.000000 1129.740484 0.000000 1129.740484 0
EDGE_SE3:QUAT 208 209 0.146654 -0.001719 -0.000686 -0.000880 0.001305 -0.029957 0.999550 4938.579783 0.000000 0.000000 0.000000 0.000000 0.000000 4938.579783 0.000000 0.000000 0.000000 0.000000 4938.579783 0.000000 0.000000 0.000000 1038.338929 0.000000 0.000000 1038.338929 0.000000 1038.338929 0
EDGE_SE3:QUAT 208 529 0.023502 -0.067637 0.001016 0.000876 -0.002214 0.025120 0.999682 3041.156210 0.000000 0.000000 0.000000 0.000000 0.000000 3041.156210 0.000000 0.000000 0.000000 0.000000 3041.156210 0.000000 0.000000 0.000000 152.125011 0.000000 0.000000 152.125011 0.000000 152.125011 1
EDGE_SE3:QUAT 209 217 0.241524 0.012654 -0.000844 -0.001504 0.001506 0.014423 0.999894 6937.025555 0.000000 0.000000 0.000000 0.000000 0.000000 6937.025555 0.000000 0.000000 0.000000 0.000000 6937.025555 0.000000 0.000000 0.000000 1388.723314 0.000000 0.000000 1388.723314 0.000000 1388.723314 0
EDGE_SE3:QUAT 217 228 0.301945 0.003675 0.000190 -0.001229 0.001847 -0.000119 0.999998 3673.594764 0.000000 0.000000 0.000000 0.000000 0.000000 3673.594764 0.000000 0.000000 0.000000 0.000000 3673.594764 0.000000 0.000000 0.000000 1291.886913 0.000000 0.000000 1291.886913 0.000000 1291.886913 0
EDGE_SE3:QUAT 217 530 -0.064159 -0.048110 0.001300 0.001070 -0.002492 0.022412 0.999745 2813.932796 0.000000 0.000000 0.000000 0.000000 0.000000 2813.932796 0.000000 0.000000 0.000000 0.000000 2813.932796 0.000000 0.000000 0.000000 194.237967 0.000000 0.000000 194.237967 0.000000 194.237967 2
EDGE_SE3:QUAT 217 531 0.067771 -0.042439 0.000144 0.000541 -0.001228 0.013305 0.999911 3306.921018 0.000000 0.000000 0.000000 0.000000 0.000000 3306.921018 0.000000 0.000000 0.000000 0.000000 3306.921018 0.000000 0.000000 0.000000 164.678102 0.000000 0.000000 164.678102 0.000000 164.678102 1
EDGE_SE3:QUAT 228 229 0.262994 0.001915 -0.000985 0.000311 -0.002337 -0.004413 0.999987 7552.220440 0.000000 0.000000 0.000000 0.000000 0.000000 7552.220440 0.000000 0.000000 0.000000 0.000000 7552.220440 0.000000 0.000000 0.000000 1646.781021 0.000000 0.000000 1646.781021 0.000000 1646.781021 0
EDGE_SE3:QUAT 229 230 0.282875 -0.000027 0.001123 -0.002246 -0.006561 -0.008067 0.999943 9153.579049 0.000000 0.000000 0.000000 0.000000 0.000000 9153.579049 0.000000 0.000000 0.000000 0.000000 9153.579049 0.000000 0.000000 0.000000 1531.492864 0.000000 0.000000 1531.492864 0.000000 1531.492864 0
EDGE_SE3:QUAT 230 231 0.342331 0.000066 0.000294 0.001011 0.003252 -0.011210 0.999931 7137.110869 0.000000 0.000000 0.000000 0.000000 0.000000 7137.110869 0.000000 0.000000 0.000000 0.000000 7137.110869 0.000000 0.000000 0.000000 1844.727364 0.000000 0.000000 1844.727364 0.000000 1844.727364 0
EDGE_SE3:QUAT 231 232 0.390679 -0.001302 -0.004546 0.001231 0.002863 -0.021643 0.999761 11785.892631 0.000000 0.000000 0.000000 0.000000 0.000000 11785.892631 0.000000 0.000000 0.000000 0.000000 11785.892631 0.000000 0.000000 0.000000 1921.608920 0.000000 0.000000 1921.608920 0.000000 1921.608920 0
EDGE_SE3:QUAT 232 233 0.364664 -0.015360 0.000563 -0.001093 0.002520 -0.081567 0.996664 9966.688776 0.000000 0.000000 0.000000 0.000000 0.000000 9966.688776 0.000000 0.000000 0.000000 0.000000 9966.688776 0.000000 0.000000 0.000000 1844.727364 0.000000 0.000000 1844.727364 0.000000 1844.727364 0
EDGE_SE3:QUAT 233 234 0.331515 -0.048343 0.001474 -0.001315 -0.004656 -0.181060 0.983460 15929.932812 0.000000 0.000000 0.000000 0.000000 0.000000 15929.932812 0.000000 0.000000 0.000000 0.000000 15929.932812 0.000000 0.000000 0.000000 2365.994995 0.000000 0.000000 2365.994995 0.000000 2365.994995 0
EDGE_SE3:QUAT 234 235 0.392063 -0.021077 -0.000802 0.003368 0.002734 -0.059567 0.998215 11209.704762 0.000000 0.000000 0.000000 0.000000 0.000000 11209.704762 0.000000 0.000000 0.000000 0.000000 11209.704762 0.000000 0.000000 0.000000 1942.379665 0.000000 0.000000 1942.379665 0.000000 1942.379665 0
EDGE_SE3:QUAT 235 236 0.386353 -0.000723 0.001652 0.004556 -0.005736 -0.031652 0.999472 11268.129113 0.000000 0.000000 0.000000 0.000000 0.000000 11268.129113 0.000000 0.000000 0.000000 0.000000 11268.129113 0.000000 0.000000 0.000000 2109.470743 0.000000 0.000000 2109.470743 0.000000 2109.470743 0
EDGE_SE3:QUAT 236 237 0.394506 -0.001737 -0.007072 -0.001987 0.007986 -0.024463 0.999667 20166.296294 0.000000 0.000000 0.000000 0.000000 0.000000 20166.296294 0.000000 0.000000 0.000000 0.000000 20166.296294 0.000000 0.000000 0.000000 2634.589807 0.000000 0.000000 2634.589807 0.000000 2634.589807 0
EDGE_SE3:QUAT 237 238 0.435614 0.005898 0.006514 -0.013391 -0.007785 -0.015653 0.999758 9767.352380 0.000000 0.000000 0.000000 0.000000 0.000000 9767.352380 0.000000 0.000000 0.000000 0.000000 9767.352380 0.000000 0.000000 0.000000 2195.587815 0.000000 0.000000 2195.587815 0.000000 2195.587815 0
EDGE_SE3:QUAT 238 239 0.426737 0.006886 -0.018523 -0.002995 0.028959 -0.011775 0.999507 15300.132088 0.000000 0.000000 0.000000 0.000000 0.000000 15300.132088 0.000000 0.000000 0.000000 0.000000 15300.132088 0.000000 0.000000 0.000000 2259.226780 0.000000 0.000000 2259.226780 0.000000 2259.226780 0
EDGE_SE3:QUAT 239 240 0.418616 0.011304 0.002519 -0.010330 -0.001552 0.014250 0.999844 20512.802589 0.000000 0.000000 0.000000 0.000000 0.000000 20512.802589 0.000000 0.000000 0.000000 0.000000 20512.802589 0.000000 0.000000 0.000000 3104.748017 0.000000 0.000000 3104.748017 0.000000 3104.748017 0
EDGE_SE3:QUAT 240 241 0.451894 0.013851 0.003312 0.008208 -0.010937 -0.034324 0.999317 18074.477518 0.000000 0.000000 0.000000 0.000000 0.000000 18074.477518 0.000000 0.000000 0.000000 0.000000 18074.477518 0.000000 0.000000 0.000000 3104.748017 0.000000 0.000000 3104.748017 0.000000 3104.748017 0
EDGE_SE3:QUAT 241 242 0.418268 -0.065799 -0.000166 0.006830 -0.000931 -0.156270 0.987690 13759.141130 0.000000 0.000000 0.000000 0.000000 0.000000 13759.141130 0.000000 0.000000 0.000000 0.000000 13759.141130 0.000000 0.000000 0.000000 2583.441100 0.000000 0.000000 2583.441100 0.000000 2583.441100 0
EDGE_SE3:QUAT 242 243 0.423235 0.004973 0.005228 -0.002663 -0.008391 0.001307 0.999960 7993.206010 0.000000 0.000000 0.000000 0.000000 0.000000 7993.206010 0.000000 0.000000 0.000000 0.000000 7993.206010 0.000000 0.000000 0.000000 2365.994995 0.000000 0.000000 2365.994995 0.000000 2365.994995 0
EDGE_SE3:QUAT 243 244 0.395590 0.015182 0.002333 0.002661 -0.014181 0.033680 0.999328 7203.411650 0.000000 0.000000 0.000000 0.000000 0.000000 7203.411650 0.000000 0.000000 0.000000 0.000000 7203.411650 0.000000 0.000000 0.000000 2535.160439 0.000000 0.000000 2535.160439 0.000000 2535.160439 0
EDGE_SE3:QUAT 244 245 0.378729 -0.025563 -0.011421 -0.000890 0.018234 0.003793 0.999826 9305.186553 0.000000 0.000000 0.000000 0.000000 0.000000 9305.186553 0.000000 0.000000 0.000000 0.000000 9305.186553 0.000000 0.000000 0.000000 3293.020587 0.000000 0.000000 3293.020587 0.000000 3293.020587 0
EDGE_SE3:QUAT 245 246 0.403957 -0.037608 -0.001684 -0.008784 -0.001499 -0.000194 0.999960 16069.486002 0.000000 0.000000 0.000000 0.000000 0.000000 16069.486002 0.000000 0.000000 0.000000 0.000000 16069.486002 0.000000 0.000000 0.000000 4165.015055 0.000000 0.000000 4165.015055 0.000000 4165.015055 0
EDGE_SE3:QUAT 246 247 0.454574 -0.042826 -0.007344 0.015122 -0.001149 0.017312 0.999735 6563.184113 0.000000 0.000000 0.000000 0.000000 0.000000 6563.184113 0.000000 0.000000 0.000000 0.000000 6563.184113 0.000000 0.000000 0.000000 2489.489447 0.000000 0.000000 2489.489447 0.000000 2489.489447 0
EDGE_SE3:QUAT 247 248 0.433442 -0.041984 -0.006881 0.005628 -0.006384 0.037682 0.999254 15484.214227 0.000000 0.000000 0.000000 0.000000 0.000000 15484.214227 0.000000 0.000000 0.000000 0.000000 15484.214227 0.000000 0.000000 0.000000 3802.259062 0.000000 0.000000 3802.259062 0.000000 3802.259062 0
EDGE_SE3:QUAT 248 249 0.440679 -0.038400 0.003036 -0.000019 -0.001900 0.059139 0.998248 168.244315 0.000000 0.000000 0.000000 0.000000 0.000000 168.244315 0.000000 0.000000 0.000000 0.000000 168.244315 0.000000 0.000000 0.000000 840.026375 0.000000 0.000000 840.026375 0.000000 840.026375 0
EDGE_SE3:QUAT 249 250 0.421669 -0.064528 -0.007626 -0.006579 0.001434 0.042943 0.999055 10362.738004 0.000000 0.000000 0.000000 0.000000 0.000000 10362.738004 0.000000 0.000000 0.000000 0.000000 10362.738004 0.000000 0.000000 0.000000 3802.259062 0.000000 0.000000 3802.259062 0.000000 3802.259062 0
EDGE_SE3:QUAT 250 251 0.428445 -0.085388 -0.002029 -0.006141 -0.001619 0.068707 0.997617 13179.432510 0.000000 0.000000 0.000000 0.000000 0.000000 13179.432510 0.000000 0.000000 0.000000 0.000000 13179.432510 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 251 252 0.427005 -0.062745 -0.004089 0.010637 -0.003226 0.055135 0.998417 15400.075775 0.000000 0.000000 0.000000 0.000000 0.000000 15400.075775 0.000000 0.000000 0.000000 0.000000 15400.075775 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 252 253 0.353931 -0.073717 -0.006270 0.006624 0.014321 -0.004132 0.999867 17264.399460 0.000000 0.000000 0.000000 0.000000 0.000000 17264.399460 0.000000 0.000000 0.000000 0.000000 17264.399460 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 253 254 0.361163 -0.102774 -0.001302 -0.000445 0.005572 -0.081239 0.996679 14509.275414 0.000000 0.000000 0.000000 0.000000 0.000000 14509.275414 0.000000 0.000000 0.000000 0.000000 14509.275414 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 254 255 0.384333 -0.078522 0.007814 0.004878 -0.010467 -0.005072 0.999920 7891.892603 0.000000 0.000000 0.000000 0.000000 0.000000 7891.892603 0.000000 0.000000 0.000000 0.000000 7891.892603 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 255 256 0.410247 -0.060110 0.001470 0.000877 -0.014385 0.026966 0.999532 11369.641785 0.000000 0.000000 0.000000 0.000000 0.000000 11369.641785 0.000000 0.000000 0.000000 0.000000 11369.641785 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 256 257 0.373090 -0.080097 -0.006744 0.004493 0.002641 0.002182 0.999984 21040.723524 0.000000 0.000000 0.000000 0.000000 0.000000 21040.723524 0.000000 0.000000 0.000000 0.000000 21040.723524 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 257 258 0.372026 -0.106360 0.001915 -0.002649 0.007006 -0.003101 0.999967 14387.153832 0.000000 0.000000 0.000000 0.000000 0.000000 14387.153832 0.000000 0.000000 0.000000 0.000000 14387.153832 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 258 259 0.366918 -0.124747 -0.007688 0.001062 -0.004691 0.002648 0.999985 7056.119743 0.000000 0.000000 0.000000 0.000000 0.000000 7056.119743 0.000000 0.000000 0.000000 0.000000 7056.119743 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 259 260 0.358029 -0.145256 0.003207 -0.003782 -0.004102 -0.008044 0.999952 9908.356120 0.000000 0.000000 0.000000 0.000000 0.000000 9908.356120 0.000000 0.000000 0.000000 0.000000 9908.356120 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 260 261 0.397313 -0.161338 -0.008357 0.002152 -0.006536 0.011026 0.999916 158.628362 0.000000 0.000000 0.000000 0.000000 0.000000 158.628362 0.000000 0.000000 0.000000 0.000000 158.628362 0.000000 0.000000 0.000000 1324.104304 0.000000 0.000000 1324.104304 0.000000 1324.104304 0
EDGE_SE3:QUAT 261 262 0.398245 -0.134311 -0.010417 0.001237 0.010681 0.078956 0.996820 10719.329001 0.000000 0.000000 0.000000 0.000000 0.000000 10719.329001 0.000000 0.000000 0.000000 0.000000 10719.329001 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 262 263 0.369444 -0.161973 -0.000168 -0.002123 -0.003321 0.008304 0.999958 14103.225190 0.000000 0.000000 0.000000 0.000000 0.000000 14103.225190 0.000000 0.000000 0.000000 0.000000 14103.225190 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 263 264 0.370834 -0.165443 -0.000557 -0.002343 -0.002001 0.005709 0.999979 17253.543366 0.000000 0.000000 0.000000 0.000000 0.000000 17253.543366 0.000000 0.000000 0.000000 0.000000 17253.543366 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 264 265 0.274001 -0.111071 -0.001895 0.001823 -0.002824 0.063025 0.998006 15622.179320 0.000000 0.000000 0.000000 0.000000 0.000000 15622.179320 0.000000 0.000000 0.000000 0.000000 15622.179320 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 265 266 0.000402 -0.002898 0.000610 0.001356 0.000278 0.061873 0.998083 23225.715614 0.000000 0.000000 0.000000 0.000000 0.000000 23225.715614 0.000000 0.000000 0.000000 0.000000 23225.715614 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 266 267 -0.000201 -0.010573 0.005669 -0.004362 0.002509 0.257764 0.966195 13258.951068 0.000000 0.000000 0.000000 0.000000 0.000000 13258.951068 0.000000 0.000000 0.000000 0.000000 13258.951068 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 267 269 0.398816 0.003450 -0.004593 0.000513 -0.001058 -0.025486 0.999674 3813.351673 0.000000 0.000000 0.000000 0.000000 0.000000 3813.351673 0.000000 0.000000 0.000000 0.000000 3813.351673 0.000000 0.000000 0.000000 2688.902394 0.000000 0.000000 2688.902394 0.000000 2688.902394 0
EDGE_SE3:QUAT 269 270 0.407389 -0.023527 -0.002635 0.006741 0.000496 -0.069426 0.997564 7587.666752 0.000000 0.000000 0.000000 0.000000 0.000000 7587.666752 0.000000 0.000000 0.000000 0.000000 7587.666752 0.000000 0.000000 0.000000 3802.259062 0.000000 0.000000 3802.259062 0.000000 3802.259062 0
EDGE_SE3:QUAT 270 271 0.420880 0.000160 0.000554 0.009655 -0.005990 -0.017890 0.999775 5560.467982 0.000000 0.000000 0.000000 0.000000 0.000000 5560.467982 0.000000 0.000000 0.000000 0.000000 5560.467982 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 271 272 0.441924 -0.001944 0.002515 0.000303 -0.019053 -0.016626 0.999680 9748.213977 0.000000 0.000000 0.000000 0.000000 0.000000 9748.213977 0.000000 0.000000 0.000000 0.000000 9748.213977 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 272 273 0.473968 -0.001788 -0.006112 -0.010722 0.008970 -0.018492 0.999731 5479.317355 0.000000 0.000000 0.000000 0.000000 0.000000 5479.317355 0.000000 0.000000 0.000000 0.000000 5479.317355 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 273 274 0.480667 -0.000813 -0.008648 0.010023 0.005890 -0.007139 0.999907 9025.184314 0.000000 0.000000 0.000000 0.000000 0.000000 9025.184314 0.000000 0.000000 0.000000 0.000000 9025.184314 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 274 275 0.495479 -0.003160 -0.009757 -0.005391 0.006375 -0.016210 0.999834 12458.679201 0.000000 0.000000 0.000000 0.000000 0.000000 12458.679201 0.000000 0.000000 0.000000 0.000000 12458.679201 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 275 276 0.490875 0.005146 0.003570 -0.004821 -0.030911 -0.013023 0.999426 13045.457957 0.000000 0.000000 0.000000 0.000000 0.000000 13045.457957 0.000000 0.000000 0.000000 0.000000 13045.457957 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 276 277 0.487095 0.004108 -0.020686 0.002175 0.017422 -0.013687 0.999752 10724.140768 0.000000 0.000000 0.000000 0.000000 0.000000 10724.140768 0.000000 0.000000 0.000000 0.000000 10724.140768 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 277 278 0.455198 0.002306 -0.002905 -0.007635 -0.006773 -0.015501 0.999828 14772.706442 0.000000 0.000000 0.000000 0.000000 0.000000 14772.706442 0.000000 0.000000 0.000000 0.000000 14772.706442 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 278 279 0.461880 0.005121 -0.003794 0.002044 -0.008454 -0.015859 0.999836 10447.470844 0.000000 0.000000 0.000000 0.000000 0.000000 10447.470844 0.000000 0.000000 0.000000 0.000000 10447.470844 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 279 280 0.434351 -0.000553 0.000241 0.004875 0.005786 -0.012500 0.999893 7261.148231 0.000000 0.000000 0.000000 0.000000 0.000000 7261.148231 0.000000 0.000000 0.000000 0.000000 7261.148231 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 280 281 0.436460 0.004583 -0.008536 0.001315 0.010807 0.013393 0.999851 5008.660014 0.000000 0.000000 0.000000 0.000000 0.000000 5008.660014 0.000000 0.000000 0.000000 0.000000 5008.660014 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 281 282 0.463425 0.033818 -0.002353 0.004151 -0.010101 0.066051 0.997757 12087.130766 0.000000 0.000000 0.000000 0.000000 0.000000 12087.130766 0.000000 0.000000 0.000000 0.000000 12087.130766 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 282 283 0.460829 0.025128 -0.008485 -0.013035 -0.002871 0.055688 0.998359 9900.948048 0.000000 0.000000 0.000000 0.000000 0.000000 9900.948048 0.000000 0.000000 0.000000 0.000000 9900.948048 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 283 284 0.461115 0.018478 -0.004030 -0.000335 0.002830 0.030022 0.999545 16026.310849 0.000000 0.000000 0.000000 0.000000 0.000000 16026.310849 0.000000 0.000000 0.000000 0.000000 16026.310849 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 284 285 0.412275 0.008946 -0.004681 -0.000356 0.005324 0.010406 0.999932 19236.027951 0.000000 0.000000 0.000000 0.000000 0.000000 19236.027951 0.000000 0.000000 0.000000 0.000000 19236.027951 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 285 286 0.112803 0.002130 0.001291 -0.002609 0.001240 0.004296 0.999987 24352.816512 0.000000 0.000000 0.000000 0.000000 0.000000 24352.816512 0.000000 0.000000 0.000000 0.000000 24352.816512 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 286 287 -0.004532 0.009336 0.000806 0.004897 0.000320 -0.156760 0.987625 21208.195079 0.000000 0.000000 0.000000 0.000000 0.000000 21208.195079 0.000000 0.000000 0.000000 0.000000 21208.195079 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 287 288 0.003922 0.012016 0.001141 -0.008675 -0.005426 -0.414299 0.910084 28193.127793 0.000000 0.000000 0.000000 0.000000 0.000000 28193.127793 0.000000 0.000000 0.000000 0.000000 28193.127793 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 288 289 0.002932 0.013696 -0.001012 -0.002030 0.004213 -0.398353 0.917220 14819.786037 0.000000 0.000000 0.000000 0.000000 0.000000 14819.786037 0.000000 0.000000 0.000000 0.000000 14819.786037 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 289 290 0.005065 0.011824 0.003636 -0.001461 -0.005997 -0.370777 0.928702 14052.164810 0.000000 0.000000 0.000000 0.000000 0.000000 14052.164810 0.000000 0.000000 0.000000 0.000000 14052.164810 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 290 291 0.003162 0.010603 -0.001148 -0.007339 -0.000693 -0.365555 0.930761 11881.094076 0.000000 0.000000 0.000000 0.000000 0.000000 11881.094076 0.000000 0.000000 0.000000 0.000000 11881.094076 0.000000 0.000000 0.000000 4656.399548 0.000000 0.000000 4656.399548 0.000000 4656.399548 0
EDGE_SE3:QUAT 291 292 0.005489 0.012601 0.001740 -0.010901 -0.000991 -0.333922 0.942537 23608.864737 0.000000 0.000000 0.000000 0.000000 0.000000 23608.864737 0.000000 0.000000 0.000000 0.000000 23608.864737 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 292 293 0.002449 0.012925 -0.001264 0.006223 0.007229 -0.365697 0.930685 32718.225914 0.000000 0.000000 0.000000 0.000000 0.000000 32718.225914 0.000000 0.000000 0.000000 0.000000 32718.225914 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 293 294 0.001941 0.012648 0.000910 -0.000278 -0.003464 -0.254099 0.967172 19214.712794 0.000000 0.000000 0.000000 0.000000 0.000000 19214.712794 0.000000 0.000000 0.000000 0.000000 19214.712794 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 294 296 0.410338 0.006674 0.002502 -0.004230 -0.003541 0.001316 0.999984 15401.509664 0.000000 0.000000 0.000000 0.000000 0.000000 15401.509664 0.000000 0.000000 0.000000 0.000000 15401.509664 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 296 297 0.431969 0.005703 0.007767 -0.000920 -0.019442 -0.003821 0.999803 5442.000144 0.000000 0.000000 0.000000 0.000000 0.000000 5442.000144 0.000000 0.000000 0.000000 0.000000 5442.000144 0.000000 0.000000 0.000000 3802.259062 0.000000 0.000000 3802.259062 0.000000 3802.259062 0
EDGE_SE3:QUAT 297 298 0.433597 -0.017754 -0.005448 -0.005482 0.002617 -0.081174 0.996681 11591.436563 0.000000 0.000000 0.000000 0.000000 0.000000 11591.436563 0.000000 0.000000 0.000000 0.000000 11591.436563 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 298 299 0.406242 -0.017191 -0.004025 -0.003584 -0.003994 -0.052262 0.998619 12687.005808 0.000000 0.000000 0.000000 0.000000 0.000000 12687.005808 0.000000 0.000000 0.000000 0.000000 12687.005808 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 299 300 0.401804 0.010027 -0.005182 -0.001614 0.005157 -0.005961 0.999968 14070.237121 0.000000 0.000000 0.000000 0.000000 0.000000 14070.237121 0.000000 0.000000 0.000000 0.000000 14070.237121 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 300 301 0.452489 0.004007 -0.007230 0.006196 -0.002067 -0.009938 0.999929 11924.464434 0.000000 0.000000 0.000000 0.000000 0.000000 11924.464434 0.000000 0.000000 0.000000 0.000000 11924.464434 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 301 302 0.510836 0.007912 -0.008397 -0.012679 0.009657 -0.011690 0.999805 19724.977959 0.000000 0.000000 0.000000 0.000000 0.000000 19724.977959 0.000000 0.000000 0.000000 0.000000 19724.977959 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 302 303 0.508672 0.007696 -0.002238 -0.006568 -0.016496 -0.010798 0.999784 19838.843918 0.000000 0.000000 0.000000 0.000000 0.000000 19838.843918 0.000000 0.000000 0.000000 0.000000 19838.843918 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 303 304 0.496308 0.013718 -0.010970 0.016067 -0.021621 -0.007580 0.999608 8646.474361 0.000000 0.000000 0.000000 0.000000 0.000000 8646.474361 0.000000 0.000000 0.000000 0.000000 8646.474361 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 304 305 0.485135 -0.027153 -0.021371 -0.017771 0.025293 -0.090335 0.995432 25072.584087 0.000000 0.000000 0.000000 0.000000 0.000000 25072.584087 0.000000 0.000000 0.000000 0.000000 25072.584087 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 305 306 0.477482 -0.027262 -0.005511 0.000262 -0.014480 -0.062076 0.997966 15964.534273 0.000000 0.000000 0.000000 0.000000 0.000000 15964.534273 0.000000 0.000000 0.000000 0.000000 15964.534273 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 306 307 0.491442 0.007993 -0.025445 -0.006300 0.024773 -0.007752 0.999643 19066.164516 0.000000 0.000000 0.000000 0.000000 0.000000 19066.164516 0.000000 0.000000 0.000000 0.000000 19066.164516 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 307 308 0.506733 0.005064 0.002622 0.022627 -0.027807 -0.018195 0.999192 17979.693682 0.000000 0.000000 0.000000 0.000000 0.000000 17979.693682 0.000000 0.000000 0.000000 0.000000 17979.693682 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 308 309 0.512785 0.001299 -0.009473 -0.003467 0.008002 -0.012729 0.999881 17040.783603 0.000000 0.000000 0.000000 0.000000 0.000000 17040.783603 0.000000 0.000000 0.000000 0.000000 17040.783603 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 309 310 0.502348 0.003019 -0.005663 -0.008236 0.005453 -0.020069 0.999750 23532.814694 0.000000 0.000000 0.000000 0.000000 0.000000 23532.814694 0.000000 0.000000 0.000000 0.000000 23532.814694 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 310 311 0.496429 0.003813 -0.006835 0.010943 -0.007048 -0.021182 0.999691 30819.220728 0.000000 0.000000 0.000000 0.000000 0.000000 30819.220728 0.000000 0.000000 0.000000 0.000000 30819.220728 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 311 312 0.505560 0.003633 -0.009167 -0.000947 -0.001299 -0.015889 0.999873 27747.234485 0.000000 0.000000 0.000000 0.000000 0.000000 27747.234485 0.000000 0.000000 0.000000 0.000000 27747.234485 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 312 313 0.510777 -0.000062 0.002085 -0.003658 -0.011694 -0.019579 0.999733 16731.327129 0.000000 0.000000 0.000000 0.000000 0.000000 16731.327129 0.000000 0.000000 0.000000 0.000000 16731.327129 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 313 314 0.521488 0.022979 -0.001138 0.005386 -0.012008 0.055944 0.998347 10881.901655 0.000000 0.000000 0.000000 0.000000 0.000000 10881.901655 0.000000 0.000000 0.000000 0.000000 10881.901655 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 314 315 0.521984 0.050214 -0.020099 0.019332 0.002080 0.052090 0.998453 15707.752450 0.000000 0.000000 0.000000 0.000000 0.000000 15707.752450 0.000000 0.000000 0.000000 0.000000 15707.752450 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 315 316 0.510986 0.017839 -0.018057 -0.013500 0.011732 0.024785 0.999533 20256.281464 0.000000 0.000000 0.000000 0.000000 0.000000 20256.281464 0.000000 0.000000 0.000000 0.000000 20256.281464 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 316 317 0.505527 0.013733 -0.016970 0.002987 0.013533 0.011364 0.999839 14621.350986 0.000000 0.000000 0.000000 0.000000 0.000000 14621.350986 0.000000 0.000000 0.000000 0.000000 14621.350986 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 317 318 0.494368 0.027748 -0.006607 0.008709 -0.006187 0.032058 0.999429 18486.393387 0.000000 0.000000 0.000000 0.000000 0.000000 18486.393387 0.000000 0.000000 0.000000 0.000000 18486.393387 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 318 319 0.513554 -0.034649 -0.012545 -0.015465 0.013961 -0.132170 0.991008 5098.822157 0.000000 0.000000 0.000000 0.000000 0.000000 5098.822157 0.000000 0.000000 0.000000 0.000000 5098.822157 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 319 320 0.461720 -0.045732 0.005888 0.006329 -0.032750 -0.114121 0.992907 5675.912163 0.000000 0.000000 0.000000 0.000000 0.000000 5675.912163 0.000000 0.000000 0.000000 0.000000 5675.912163 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 320 321 0.429777 0.034008 -0.026832 -0.004356 0.033278 0.075153 0.996607 2497.464279 0.000000 0.000000 0.000000 0.000000 0.000000 2497.464279 0.000000 0.000000 0.000000 0.000000 2497.464279 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 321 322 0.259209 0.011359 -0.004707 -0.006038 0.010831 0.042248 0.999030 6925.221635 0.000000 0.000000 0.000000 0.000000 0.000000 6925.221635 0.000000 0.000000 0.000000 0.000000 6925.221635 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 322 324 0.016014 0.014391 -0.005041 0.003326 0.001593 -0.310826 0.950460 6763.874628 0.000000 0.000000 0.000000 0.000000 0.000000 6763.874628 0.000000 0.000000 0.000000 0.000000 6763.874628 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 324 325 0.000244 0.011417 0.001063 -0.013727 -0.006419 -0.355064 0.934719 23466.655397 0.000000 0.000000 0.000000 0.000000 0.000000 23466.655397 0.000000 0.000000 0.000000 0.000000 23466.655397 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 325 326 0.007002 0.009308 -0.003967 0.000190 0.010881 -0.368646 0.929506 5892.481500 0.000000 0.000000 0.000000 0.000000 0.000000 5892.481500 0.000000 0.000000 0.000000 0.000000 5892.481500 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 326 327 0.007783 0.010256 -0.001451 0.002282 -0.015731 -0.366728 0.930193 7190.487460 0.000000 0.000000 0.000000 0.000000 0.000000 7190.487460 0.000000 0.000000 0.000000 0.000000 7190.487460 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 327 328 0.008461 0.010824 0.001939 -0.014656 0.006718 -0.361551 0.932213 22133.527783 0.000000 0.000000 0.000000 0.000000 0.000000 22133.527783 0.000000 0.000000 0.000000 0.000000 22133.527783 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 328 329 0.004112 0.017178 -0.000546 0.008253 0.000284 -0.376628 0.926328 12321.889195 0.000000 0.000000 0.000000 0.000000 0.000000 12321.889195 0.000000 0.000000 0.000000 0.000000 12321.889195 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 329 330 0.001825 0.007004 0.005044 -0.009321 -0.004666 -0.208104 0.978051 12920.667798 0.000000 0.000000 0.000000 0.000000 0.000000 12920.667798 0.000000 0.000000 0.000000 0.000000 12920.667798 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 330 332 0.453449 0.041929 0.010372 -0.004561 -0.036408 0.056196 0.997745 4726.725258 0.000000 0.000000 0.000000 0.000000 0.000000 4726.725258 0.000000 0.000000 0.000000 0.000000 4726.725258 0.000000 0.000000 0.000000 4390.212214 0.000000 0.000000 4390.212214 0.000000 4390.212214 0
EDGE_SE3:QUAT 332 333 0.421517 0.015583 -0.020229 0.010238 0.033621 0.013802 0.999287 1503.094791 0.000000 0.000000 0.000000 0.000000 0.000000 1503.094791 0.000000 0.000000 0.000000 0.000000 1503.094791 0.000000 0.000000 0.000000 2535.160439 0.000000 0.000000 2535.160439 0.000000 2535.160439 0
EDGE_SE3:QUAT 333 334 0.449649 0.005442 -0.006732 0.006465 0.015013 0.001271 0.999866 2746.396536 0.000000 0.000000 0.000000 0.000000 0.000000 2746.396536 0.000000 0.000000 0.000000 0.000000 2746.396536 0.000000 0.000000 0.000000 3653.146618 0.000000 0.000000 3653.146618 0.000000 3653.146618 0
EDGE_SE3:QUAT 334 335 0.468474 -0.017273 -0.028579 -0.001909 0.059564 -0.061411 0.996332 6119.146122 0.000000 0.000000 0.000000 0.000000 0.000000 6119.146122 0.000000 0.000000 0.000000 0.000000 6119.146122 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 335 336 0.443317 -0.049370 0.000265 0.007645 -0.003431 -0.144081 0.989530 22219.479562 0.000000 0.000000 0.000000 0.000000 0.000000 22219.479562 0.000000 0.000000 0.000000 0.000000 22219.479562 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 336 337 0.402801 -0.046085 0.024398 0.001761 -0.068798 -0.147135 0.986719 17496.585984 0.000000 0.000000 0.000000 0.000000 0.000000 17496.585984 0.000000 0.000000 0.000000 0.000000 17496.585984 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 337 338 0.474182 0.001112 -0.012432 0.001467 -0.004908 -0.035542 0.999355 6379.663243 0.000000 0.000000 0.000000 0.000000 0.000000 6379.663243 0.000000 0.000000 0.000000 0.000000 6379.663243 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 338 339 0.480690 0.012844 -0.005920 0.007123 0.005080 -0.010515 0.999906 9823.121258 0.000000 0.000000 0.000000 0.000000 0.000000 9823.121258 0.000000 0.000000 0.000000 0.000000 9823.121258 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 339 340 0.493405 0.005207 0.000712 0.001541 -0.007404 -0.013435 0.999881 11199.742418 0.000000 0.000000 0.000000 0.000000 0.000000 11199.742418 0.000000 0.000000 0.000000 0.000000 11199.742418 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 340 341 0.500572 0.011086 -0.014911 0.002643 0.017344 -0.005602 0.999830 26434.175235 0.000000 0.000000 0.000000 0.000000 0.000000 26434.175235 0.000000 0.000000 0.000000 0.000000 26434.175235 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 341 342 0.508600 0.004599 0.014433 0.015692 -0.039578 -0.019578 0.998901 22513.107013 0.000000 0.000000 0.000000 0.000000 0.000000 22513.107013 0.000000 0.000000 0.000000 0.000000 22513.107013 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 342 343 0.509537 0.004465 -0.013147 0.001212 -0.001137 -0.013008 0.999914 21064.833039 0.000000 0.000000 0.000000 0.000000 0.000000 21064.833039 0.000000 0.000000 0.000000 0.000000 21064.833039 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 343 344 0.500315 -0.000357 -0.001226 -0.002083 -0.012516 -0.014915 0.999808 11673.220011 0.000000 0.000000 0.000000 0.000000 0.000000 11673.220011 0.000000 0.000000 0.000000 0.000000 11673.220011 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 344 345 0.508909 0.012283 -0.010431 -0.008289 0.005025 0.012502 0.999875 22526.580818 0.000000 0.000000 0.000000 0.000000 0.000000 22526.580818 0.000000 0.000000 0.000000 0.000000 22526.580818 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 345 346 0.516802 0.020565 -0.016560 -0.002059 -0.011413 0.021372 0.999704 8540.985612 0.000000 0.000000 0.000000 0.000000 0.000000 8540.985612 0.000000 0.000000 0.000000 0.000000 8540.985612 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 346 347 0.517008 0.015953 -0.019808 0.018409 0.012786 -0.001615 0.999748 14328.067561 0.000000 0.000000 0.000000 0.000000 0.000000 14328.067561 0.000000 0.000000 0.000000 0.000000 14328.067561 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 347 348 0.515553 0.014387 -0.002529 -0.001968 -0.002957 0.007211 0.999968 13901.981789 0.000000 0.000000 0.000000 0.000000 0.000000 13901.981789 0.000000 0.000000 0.000000 0.000000 13901.981789 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 348 349 0.513159 0.010885 -0.008063 0.002066 -0.004329 0.008660 0.999951 19030.327951 0.000000 0.000000 0.000000 0.000000 0.000000 19030.327951 0.000000 0.000000 0.000000 0.000000 19030.327951 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 349 350 0.511732 0.010572 0.001309 -0.005549 -0.025270 0.016244 0.999533 17287.783423 0.000000 0.000000 0.000000 0.000000 0.000000 17287.783423 0.000000 0.000000 0.000000 0.000000 17287.783423 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 350 351 0.504311 0.010393 -0.024027 -0.001624 0.013126 0.009875 0.999864 11985.488049 0.000000 0.000000 0.000000 0.000000 0.000000 11985.488049 0.000000 0.000000 0.000000 0.000000 11985.488049 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 351 352 0.515139 0.017426 -0.005763 0.001565 -0.014497 0.017835 0.999735 25709.094607 0.000000 0.000000 0.000000 0.000000 0.000000 25709.094607 0.000000 0.000000 0.000000 0.000000 25709.094607 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 352 353 0.503069 0.009836 -0.011859 0.003219 -0.017791 0.004863 0.999825 15796.842778 0.000000 0.000000 0.000000 0.000000 0.000000 15796.842778 0.000000 0.000000 0.000000 0.000000 15796.842778 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 353 354 0.486725 0.001812 -0.001323 -0.006052 -0.026875 0.000169 0.999620 23611.680212 0.000000 0.000000 0.000000 0.000000 0.000000 23611.680212 0.000000 0.000000 0.000000 0.000000 23611.680212 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 354 355 0.428860 0.020414 -0.021203 0.006035 0.015825 0.009415 0.999812 18363.739159 0.000000 0.000000 0.000000 0.000000 0.000000 18363.739159 0.000000 0.000000 0.000000 0.000000 18363.739159 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 355 356 0.271826 0.014410 -0.005798 0.003412 -0.004451 -0.003479 0.999978 29877.842219 0.000000 0.000000 0.000000 0.000000 0.000000 29877.842219 0.000000 0.000000 0.000000 0.000000 29877.842219 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 356 357 0.297346 0.016834 -0.008533 -0.000031 -0.011932 -0.001767 0.999927 12359.061821 0.000000 0.000000 0.000000 0.000000 0.000000 12359.061821 0.000000 0.000000 0.000000 0.000000 12359.061821 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 357 358 0.320477 0.009077 -0.014738 0.001797 0.004607 0.015303 0.999871 11377.838855 0.000000 0.000000 0.000000 0.000000 0.000000 11377.838855 0.000000 0.000000 0.000000 0.000000 11377.838855 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 358 359 0.348043 0.011328 -0.012574 -0.003158 -0.009618 -0.007454 0.999921 14622.566921 0.000000 0.000000 0.000000 0.000000 0.000000 14622.566921 0.000000 0.000000 0.000000 0.000000 14622.566921 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 359 360 0.339239 0.011492 -0.012274 -0.001067 -0.000331 0.024155 0.999708 15329.028315 0.000000 0.000000 0.000000 0.000000 0.000000 15329.028315 0.000000 0.000000 0.000000 0.000000 15329.028315 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 360 361 0.351336 0.016949 -0.019733 -0.003140 0.006062 0.031509 0.999480 10785.965979 0.000000 0.000000 0.000000 0.000000 0.000000 10785.965979 0.000000 0.000000 0.000000 0.000000 10785.965979 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 361 362 0.373398 0.013704 -0.016250 -0.000551 0.000018 0.049716 0.998763 13905.335653 0.000000 0.000000 0.000000 0.000000 0.000000 13905.335653 0.000000 0.000000 0.000000 0.000000 13905.335653 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 362 363 0.363966 0.007229 -0.011936 0.001241 -0.002448 -0.007942 0.999965 21145.182945 0.000000 0.000000 0.000000 0.000000 0.000000 21145.182945 0.000000 0.000000 0.000000 0.000000 21145.182945 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 363 364 0.374929 0.011360 -0.014809 -0.001984 0.003914 0.024082 0.999700 15090.310326 0.000000 0.000000 0.000000 0.000000 0.000000 15090.310326 0.000000 0.000000 0.000000 0.000000 15090.310326 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 364 365 0.384566 0.011236 -0.009680 -0.001665 -0.013552 0.008306 0.999872 13367.989821 0.000000 0.000000 0.000000 0.000000 0.000000 13367.989821 0.000000 0.000000 0.000000 0.000000 13367.989821 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 365 366 0.396535 0.019661 -0.022287 0.010208 0.008033 -0.012701 0.999835 12905.544614 0.000000 0.000000 0.000000 0.000000 0.000000 12905.544614 0.000000 0.000000 0.000000 0.000000 12905.544614 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 366 367 0.405821 0.024103 -0.016722 -0.000799 0.001864 0.050955 0.998699 13183.833208 0.000000 0.000000 0.000000 0.000000 0.000000 13183.833208 0.000000 0.000000 0.000000 0.000000 13183.833208 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 367 368 0.400046 0.012238 -0.014696 0.005891 0.003513 0.026028 0.999638 14627.936414 0.000000 0.000000 0.000000 0.000000 0.000000 14627.936414 0.000000 0.000000 0.000000 0.000000 14627.936414 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 368 369 0.404202 0.012165 -0.010932 -0.013168 -0.015737 0.000918 0.999789 12453.615063 0.000000 0.000000 0.000000 0.000000 0.000000 12453.615063 0.000000 0.000000 0.000000 0.000000 12453.615063 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 369 370 0.408184 0.018085 -0.029404 0.001175 0.020162 0.001999 0.999794 10064.742285 0.000000 0.000000 0.000000 0.000000 0.000000 10064.742285 0.000000 0.000000 0.000000 0.000000 10064.742285 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 370 371 0.407849 0.016300 -0.013345 0.012552 0.001272 -0.010308 0.999867 7458.865207 0.000000 0.000000 0.000000 0.000000 0.000000 7458.865207 0.000000 0.000000 0.000000 0.000000 7458.865207 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 371 372 0.408682 0.019249 -0.019985 0.008485 0.007861 0.009534 0.999888 9665.725071 0.000000 0.000000 0.000000 0.000000 0.000000 9665.725071 0.000000 0.000000 0.000000 0.000000 9665.725071 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 372 373 0.410717 0.019779 -0.008075 0.000910 -0.014276 0.007164 0.999872 8248.845167 0.000000 0.000000 0.000000 0.000000 0.000000 8248.845167 0.000000 0.000000 0.000000 0.000000 8248.845167 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 373 374 0.396100 0.019524 -0.022094 0.000642 0.019402 0.004872 0.999800 7678.633535 0.000000 0.000000 0.000000 0.000000 0.000000 7678.633535 0.000000 0.000000 0.000000 0.000000 7678.633535 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 374 375 0.412450 0.020065 -0.006120 -0.005051 -0.012710 0.018252 0.999740 4329.486173 0.000000 0.000000 0.000000 0.000000 0.000000 4329.486173 0.000000 0.000000 0.000000 0.000000 4329.486173 0.000000 0.000000 0.000000 5376.359507 0.000000 0.000000 5376.359507 0.000000 5376.359507 0
EDGE_SE3:QUAT 375 376 0.426080 0.014767 -0.021811 0.002225 0.026075 0.013629 0.999565 13387.995198 0.000000 0.000000 0.000000 0.000000 0.000000 13387.995198 0.000000 0.000000 0.000000 0.000000 13387.995198 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 376 377 0.431455 0.007870 -0.013117 -0.006883 0.001080 -0.009499 0.999931 6266.132035 0.000000 0.000000 0.000000 0.000000 0.000000 6266.132035 0.000000 0.000000 0.000000 0.000000 6266.132035 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 377 378 0.436122 -0.009865 -0.017402 -0.017023 0.007304 -0.052159 0.998467 12008.028985 0.000000 0.000000 0.000000 0.000000 0.000000 12008.028985 0.000000 0.000000 0.000000 0.000000 12008.028985 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 378 379 0.420628 -0.004856 -0.014483 0.011295 0.000541 -0.051454 0.998611 14786.668099 0.000000 0.000000 0.000000 0.000000 0.000000 14786.668099 0.000000 0.000000 0.000000 0.000000 14786.668099 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 379 380 0.441038 0.014771 -0.018442 0.005645 0.013563 -0.023096 0.999625 10623.971416 0.000000 0.000000 0.000000 0.000000 0.000000 10623.971416 0.000000 0.000000 0.000000 0.000000 10623.971416 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 380 381 0.450933 0.009699 -0.003079 -0.001559 -0.001249 -0.012088 0.999925 7554.530090 0.000000 0.000000 0.000000 0.000000 0.000000 7554.530090 0.000000 0.000000 0.000000 0.000000 7554.530090 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 381 382 0.461927 0.008802 -0.012875 -0.004938 0.006491 -0.004443 0.999957 13518.727031 0.000000 0.000000 0.000000 0.000000 0.000000 13518.727031 0.000000 0.000000 0.000000 0.000000 13518.727031 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 382 383 0.453203 0.019657 -0.014103 0.002638 0.005524 0.013117 0.999895 10760.560886 0.000000 0.000000 0.000000 0.000000 0.000000 10760.560886 0.000000 0.000000 0.000000 0.000000 10760.560886 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 383 384 0.467167 0.018057 -0.010589 0.000511 -0.002885 0.004718 0.999985 3589.296213 0.000000 0.000000 0.000000 0.000000 0.000000 3589.296213 0.000000 0.000000 0.000000 0.000000 3589.296213 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 384 385 0.475336 0.009832 -0.017152 0.002378 0.021610 -0.019642 0.999571 2821.059517 0.000000 0.000000 0.000000 0.000000 0.000000 2821.059517 0.000000 0.000000 0.000000 0.000000 2821.059517 0.000000 0.000000 0.000000 6583.873645 0.000000 0.000000 6583.873645 0.000000 6583.873645 0
EDGE_SE3:QUAT 385 386 0.441690 -0.001036 -0.002601 0.006848 0.003131 -0.044243 0.998992 4625.280029 0.000000 0.000000 0.000000 0.000000 0.000000 4625.280029 0.000000 0.000000 0.000000 0.000000 4625.280029 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 386 387 0.469246 0.007334 -0.003219 -0.013630 -0.005015 -0.017232 0.999746 2968.815965 0.000000 0.000000 0.000000 0.000000 0.000000 2968.815965 0.000000 0.000000 0.000000 0.000000 2968.815965 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 387 388 0.492287 0.009743 -0.019759 -0.000765 0.010531 -0.003771 0.999937 2449.004539 0.000000 0.000000 0.000000 0.000000 0.000000 2449.004539 0.000000 0.000000 0.000000 0.000000 2449.004539 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 388 389 0.489119 0.009384 -0.009852 0.003143 0.007517 -0.008589 0.999930 3148.548916 0.000000 0.000000 0.000000 0.000000 0.000000 3148.548916 0.000000 0.000000 0.000000 0.000000 3148.548916 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 389 390 0.493603 0.005493 -0.000464 0.005660 -0.007055 -0.042982 0.999035 3028.046909 0.000000 0.000000 0.000000 0.000000 0.000000 3028.046909 0.000000 0.000000 0.000000 0.000000 3028.046909 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 390 391 0.493923 -0.038736 -0.032260 0.001817 0.033938 -0.129933 0.990940 3696.293483 0.000000 0.000000 0.000000 0.000000 0.000000 3696.293483 0.000000 0.000000 0.000000 0.000000 3696.293483 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 391 392 0.473347 -0.036247 -0.010672 -0.004534 0.004255 -0.114593 0.993393 10226.386363 0.000000 0.000000 0.000000 0.000000 0.000000 10226.386363 0.000000 0.000000 0.000000 0.000000 10226.386363 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
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EDGE_SE3:QUAT 404 405 0.004203 0.015301 0.007580 -0.006706 0.000688 -0.364420 0.931210 6357.104531 0.000000 0.000000 0.000000 0.000000 0.000000 6357.104531 0.000000 0.000000 0.000000 0.000000 6357.104531 0.000000 0.000000 0.000000 7601.627788 0.000000 0.000000 7601.627788 0.000000 7601.627788 0
EDGE_SE3:QUAT 405 407 0.005135 -0.006977 -0.005069 -0.001321 0.000180 0.156508 0.987676 6780.844956 0.000000 0.000000 0.000000 0.000000 0.000000 6780.844956 0.000000 0.000000 0.000000 0.000000 6780.844956 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 407 408 0.013382 -0.010326 -0.000472 0.003386 -0.000406 0.278529 0.960422 3958.075199 0.000000 0.000000 0.000000 0.000000 0.000000 3958.075199 0.000000 0.000000 0.000000 0.000000 3958.075199 0.000000 0.000000 0.000000 5889.204784 0.000000 0.000000 5889.204784 0.000000 5889.204784 0
EDGE_SE3:QUAT 408 409 0.068410 0.004791 0.001484 -0.001023 0.002518 0.179035 0.983839 11734.234530 0.000000 0.000000 0.000000 0.000000 0.000000 11734.234530 0.000000 0.000000 0.000000 0.000000 11734.234530 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 409 411 0.352337 0.019070 0.001696 0.001210 -0.006192 0.044121 0.999006 14472.572416 0.000000 0.000000 0.000000 0.000000 0.000000 14472.572416 0.000000 0.000000 0.000000 0.000000 14472.572416 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 411 412 0.457600 0.034859 -0.010097 -0.004498 0.001260 0.066216 0.997794 13377.559703 0.000000 0.000000 0.000000 0.000000 0.000000 13377.559703 0.000000 0.000000 0.000000 0.000000 13377.559703 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 412 413 0.500149 0.009541 -0.005453 0.009703 0.015649 0.024346 0.999534 18488.201602 0.000000 0.000000 0.000000 0.000000 0.000000 18488.201602 0.000000 0.000000 0.000000 0.000000 18488.201602 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 413 414 0.520508 0.017311 0.004960 -0.005993 -0.004726 0.031743 0.999467 9848.143528 0.000000 0.000000 0.000000 0.000000 0.000000 9848.143528 0.000000 0.000000 0.000000 0.000000 9848.143528 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 414 415 0.531822 0.008234 -0.008652 0.002025 0.002505 0.011484 0.999929 17817.875822 0.000000 0.000000 0.000000 0.000000 0.000000 17817.875822 0.000000 0.000000 0.000000 0.000000 17817.875822 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 415 416 0.533133 0.012859 -0.003028 -0.020850 -0.022187 0.015095 0.999422 22039.165931 0.000000 0.000000 0.000000 0.000000 0.000000 22039.165931 0.000000 0.000000 0.000000 0.000000 22039.165931 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 416 417 0.508417 0.012451 -0.028981 0.002839 0.023802 0.004932 0.999700 30469.908348 0.000000 0.000000 0.000000 0.000000 0.000000 30469.908348 0.000000 0.000000 0.000000 0.000000 30469.908348 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 417 418 0.520540 0.051214 -0.005524 0.008275 0.005624 0.139390 0.990187 23713.391154 0.000000 0.000000 0.000000 0.000000 0.000000 23713.391154 0.000000 0.000000 0.000000 0.000000 23713.391154 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 418 419 0.413887 0.062393 -0.003323 -0.001505 0.010160 0.158407 0.987321 17759.471574 0.000000 0.000000 0.000000 0.000000 0.000000 17759.471574 0.000000 0.000000 0.000000 0.000000 17759.471574 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 419 420 0.432617 0.033216 0.001160 -0.006811 -0.002654 0.068347 0.997635 25905.712662 0.000000 0.000000 0.000000 0.000000 0.000000 25905.712662 0.000000 0.000000 0.000000 0.000000 25905.712662 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 420 421 0.452030 0.002194 -0.003928 -0.002599 0.002053 0.011733 0.999926 26133.529178 0.000000 0.000000 0.000000 0.000000 0.000000 26133.529178 0.000000 0.000000 0.000000 0.000000 26133.529178 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 421 422 0.442165 0.002757 -0.004907 0.002177 0.012624 0.012858 0.999835 21422.741353 0.000000 0.000000 0.000000 0.000000 0.000000 21422.741353 0.000000 0.000000 0.000000 0.000000 21422.741353 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 422 423 0.441452 -0.001704 0.000956 -0.003555 0.015579 0.005698 0.999856 21065.504404 0.000000 0.000000 0.000000 0.000000 0.000000 21065.504404 0.000000 0.000000 0.000000 0.000000 21065.504404 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 423 424 0.450317 0.000544 0.002729 -0.005744 -0.009399 -0.007195 0.999913 25966.044556 0.000000 0.000000 0.000000 0.000000 0.000000 25966.044556 0.000000 0.000000 0.000000 0.000000 25966.044556 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 424 425 0.425102 -0.014456 -0.001393 -0.004602 -0.007011 -0.057952 0.998284 22125.900691 0.000000 0.000000 0.000000 0.000000 0.000000 22125.900691 0.000000 0.000000 0.000000 0.000000 22125.900691 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 425 426 0.428196 -0.020852 -0.000381 -0.004306 0.005633 -0.048753 0.998786 33206.421586 0.000000 0.000000 0.000000 0.000000 0.000000 33206.421586 0.000000 0.000000 0.000000 0.000000 33206.421586 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 426 427 0.470009 0.025099 0.000580 -0.006670 0.005262 0.056926 0.998342 16002.766963 0.000000 0.000000 0.000000 0.000000 0.000000 16002.766963 0.000000 0.000000 0.000000 0.000000 16002.766963 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 427 428 0.464725 0.031094 -0.000998 -0.002076 0.000149 0.039883 0.999202 31600.837191 0.000000 0.000000 0.000000 0.000000 0.000000 31600.837191 0.000000 0.000000 0.000000 0.000000 31600.837191 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 428 429 0.470688 0.007231 -0.007382 0.005461 0.005797 0.019509 0.999778 26945.242005 0.000000 0.000000 0.000000 0.000000 0.000000 26945.242005 0.000000 0.000000 0.000000 0.000000 26945.242005 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 429 430 0.533653 0.001505 0.003893 -0.001634 -0.006187 0.009724 0.999932 21562.984547 0.000000 0.000000 0.000000 0.000000 0.000000 21562.984547 0.000000 0.000000 0.000000 0.000000 21562.984547 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 430 431 0.541782 0.009157 -0.000318 0.001097 0.002955 0.007704 0.999965 21009.540911 0.000000 0.000000 0.000000 0.000000 0.000000 21009.540911 0.000000 0.000000 0.000000 0.000000 21009.540911 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 431 432 0.519821 0.008702 -0.004097 0.001254 0.005305 0.014037 0.999887 24529.408026 0.000000 0.000000 0.000000 0.000000 0.000000 24529.408026 0.000000 0.000000 0.000000 0.000000 24529.408026 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 432 433 0.526714 0.010066 -0.010612 -0.009650 0.009710 0.000970 0.999906 17967.438472 0.000000 0.000000 0.000000 0.000000 0.000000 17967.438472 0.000000 0.000000 0.000000 0.000000 17967.438472 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 433 434 0.513100 0.009517 -0.003632 -0.002080 0.012091 0.006392 0.999904 22045.579781 0.000000 0.000000 0.000000 0.000000 0.000000 22045.579781 0.000000 0.000000 0.000000 0.000000 22045.579781 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 434 435 0.509705 -0.006184 0.008027 0.001329 -0.011780 -0.014597 0.999823 27634.424289 0.000000 0.000000 0.000000 0.000000 0.000000 27634.424289 0.000000 0.000000 0.000000 0.000000 27634.424289 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 435 436 0.508041 -0.003243 0.005028 -0.006544 -0.009275 -0.024493 0.999636 31914.881495 0.000000 0.000000 0.000000 0.000000 0.000000 31914.881495 0.000000 0.000000 0.000000 0.000000 31914.881495 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 436 437 0.466757 0.004273 -0.004020 0.015480 0.013659 0.000588 0.999787 21092.142260 0.000000 0.000000 0.000000 0.000000 0.000000 21092.142260 0.000000 0.000000 0.000000 0.000000 21092.142260 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 437 438 0.465935 -0.007187 0.006084 -0.007293 0.001750 -0.022832 0.999711 28162.351895 0.000000 0.000000 0.000000 0.000000 0.000000 28162.351895 0.000000 0.000000 0.000000 0.000000 28162.351895 0.000000 0.000000 0.000000 10000000.000000 0.000000 0.000000 10000000.000000 0.000000 10000000.000000 0
EDGE_SE3:QUAT 438 439 0.456980 0.003572 0.011034 -0.006757 -0.013175 -0.018978 0.999710 24038.613456 0.000000 0.000000 0.000000 0.000000 0.000000 24038.613456 0.000000 0.000000 0.000000 0.000000 24038.613456 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 439 440 0.462521 -0.003596 -0.002974 0.001608 0.007785 -0.029357 0.999537 16019.182955 0.000000 0.000000 0.000000 0.000000 0.000000 16019.182955 0.000000 0.000000 0.000000 0.000000 16019.182955 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 440 441 0.459137 -0.007260 -0.007357 0.003024 -0.001254 -0.027826 0.999607 20319.966203 0.000000 0.000000 0.000000 0.000000 0.000000 20319.966203 0.000000 0.000000 0.000000 0.000000 20319.966203 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 441 442 0.506975 0.004136 0.000810 -0.011814 0.015060 -0.030259 0.999359 27308.280201 0.000000 0.000000 0.000000 0.000000 0.000000 27308.280201 0.000000 0.000000 0.000000 0.000000 27308.280201 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 442 443 0.507355 0.046296 0.004631 -0.012625 -0.012029 0.043123 0.998918 15825.905694 0.000000 0.000000 0.000000 0.000000 0.000000 15825.905694 0.000000 0.000000 0.000000 0.000000 15825.905694 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
EDGE_SE3:QUAT 443 444 0.509327 0.022210 -0.002306 0.011043 0.013555 0.019508 0.999657 27436.147711 0.000000 0.000000 0.000000 0.000000 0.000000 27436.147711 0.000000 0.000000 0.000000 0.000000 27436.147711 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
EDGE_SE3:QUAT 444 445 0.497198 0.020164 0.006002 0.016221 0.012501 0.026958 0.999427 23481.520866 0.000000 0.000000 0.000000 0.000000 0.000000 23481.520866 0.000000 0.000000 0.000000 0.000000 23481.520866 0.000000 0.000000 0.000000 13159.083516 0.000000 0.000000 13159.083516 0.000000 13159.083516 0
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EDGE_SE3:QUAT 453 454 0.433588 -0.060727 0.003745 0.014770 -0.000204 -0.204259 0.978805 26793.477670 0.000000 0.000000 0.000000 0.000000 0.000000 26793.477670 0.000000 0.000000 0.000000 0.000000 26793.477670 0.000000 0.000000 0.000000 9308.464703 0.000000 0.000000 9308.464703 0.000000 9308.464703 0
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rtabmap_demos/test/golden/stereo_outdoor.tum
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View File
@@ -0,0 +1,481 @@
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1415738268.039104 0.409184 0.059367 -0.002466 -0.001186 0.000729 0.001534 0.999998
1415738269.101482 0.539304 0.059408 -0.002721 -0.002739 0.002421 -0.007578 0.999965
rtabmap_demos/test/graph_metrics.py
+100
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"""
A SLAM graph as the playback tests keep and compare it, exported from rtabmap's
database by rtabmap-export (export_graph):
<prefix>.g2o the graph (--poses_format 4). OptimizerG2O::saveGraph() writes each
edge's link type as a column past the information matrix; that is
what tells the loop closures apart.
<prefix>.tum the optimized poses with their stamps (--poses_format 10: stamp x y z
qx qy qz qw). The test replays a golden one as ground truth, from which
rtabmap computes the trajectory error itself (Gt/* statistics).
"""
import shutil
import subprocess
from dataclasses import dataclass, field
from pathlib import Path
from typing import Dict, List, Set, Tuple
import numpy as np
# rtabmap::Link::Type
NEIGHBOR, GLOBAL_CLOSURE, LOCAL_SPACE_CLOSURE, LOCAL_TIME_CLOSURE = 0, 1, 2, 3
LANDMARK = 8
@dataclass
class Graph:
poses: Dict[int, Tuple[float, ...]] = field(default_factory=dict) # x y z qx qy qz qw
link_types: List[int] = field(default_factory=list)
# Vertices that are landmarks, not nodes: rtabmap-export writes them after the nodes,
# with positive ids, the ends of the landmark links.
landmarks: Set[int] = field(default_factory=set)
@classmethod
def load(cls, g2o_path: str) -> 'Graph':
"""Read the vertices and the edges' types; a 2D graph (Reg/Force3DoF) is SE2."""
graph = cls()
# Fields each edge tag defines; the link type is the column after them.
edge_fields = {'EDGE_SE2': 12, 'EDGE_SE3:QUAT': 31}
with open(g2o_path) as f:
for line in f:
v = line.split()
if not v:
continue
if v[0] == 'VERTEX_SE3:QUAT':
graph.poses[int(v[1])] = tuple(float(x) for x in v[2:9])
elif v[0] == 'VERTEX_SE2':
yaw = float(v[4])
graph.poses[int(v[1])] = (float(v[2]), float(v[3]), 0.0,
0.0, 0.0, np.sin(yaw / 2), np.cos(yaw / 2))
elif v[0] in edge_fields:
n = edge_fields[v[0]]
link_type = int(v[n]) if len(v) > n else NEIGHBOR
graph.link_types.append(link_type)
if link_type == LANDMARK:
graph.landmarks.add(int(v[2]))
return graph
def summary(self) -> dict:
ids = sorted(set(self.poses) - self.landmarks)
xyz = np.array([self.poses[i][:3] for i in ids]).reshape(-1, 3)
return {
'nodes': len(ids),
'landmarks': len(self.landmarks),
'global_closures': sum(t == GLOBAL_CLOSURE for t in self.link_types),
'local_closures': sum(t in (LOCAL_SPACE_CLOSURE, LOCAL_TIME_CLOSURE)
for t in self.link_types),
'path_length': round(float(np.linalg.norm(np.diff(xyz, axis=0), axis=1).sum()), 2),
}
def export_graph(database: Path, prefix: Path):
"""Write <prefix>.g2o and <prefix>.tum from an rtabmap database.
The graph of every node in the database, optimized (--opt 0). Not the optimized poses
rtabmap saved when it closed (--opt 2): they are those of its local map only, without
the intermediate nodes, and are saved or not depending on how it closed, while
rtabmap-export falls back to optimizing every node when there are none.
"""
tool = shutil.which('rtabmap-export')
if tool is None:
raise FileNotFoundError('rtabmap-export not found on PATH (RTAB-Map built without '
'its tools?)')
out_dir = database.parent
for poses_format, extension, suffix in ((4, 'g2o', '.g2o'), (10, 'txt', '.tum')):
subprocess.run([tool, '--poses', '--poses_format', str(poses_format), '--opt', '0',
'--output_dir', str(out_dir), str(database)],
check=True, stdout=subprocess.DEVNULL, stderr=subprocess.PIPE, text=True)
exported = out_dir / f'{database.stem}_poses.{extension}'
exported.replace(str(prefix) + suffix)
def load_tum(path: str) -> List[Tuple[float, Tuple[float, ...]]]:
"""(stamp, (x y z qx qy qz qw)) of each line of a TUM trajectory file."""
trajectory = []
with open(path) as f:
for line in f:
v = line.split()
if len(v) == 8 and not line.startswith('#'):
trajectory.append((float(v[0]), tuple(float(x) for x in v[1:])))
return trajectory
rtabmap_demos/test/test_demo_playback.py
+401
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"""
Replay a demo's bag through the demo's own launch file and compare the resulting
graph with a golden one.
The golden trajectory is replayed in TF beside the bag as ground truth, so rtabmap
computes the error of its map against it itself, as it would for any ground truth
(Gt/* statistics, in /info). The loop closures are counted from the graph.
The bag is played in lockstep with the pipeline (see bag_lockstep.py), so the result
does not depend on how loaded the machine is. Skipped when the bag has not been
fetched (test/fetch_test_data.sh): the bags are several GB.
Environment:
RTABMAP_DEMOS_TEST_DATA where the bags are (default: test/data)
RTABMAP_DEMOS_TEST_RESULTS where each run's graph, database and launch log are kept
(default: a pytest temporary directory)
RTABMAP_DEMOS_UPDATE_GOLDEN set to 1 to write the run's graph as the new golden one
instead of comparing with it
RTABMAP_DEMOS_REPLAY lockstep (default): each sensor message once the pipeline is
idle; chunked: at the bag's pace, 10 s at a time, waiting
for rtabmap to catch up after each
RTABMAP_DEMOS_RATE with chunked: how many times the bag's pace (default 1)
"""
import ctypes
import os
import shutil
import signal
import subprocess
import sys
import threading
import time
from dataclasses import dataclass, field
from pathlib import Path
from typing import Dict, List, Union
import pytest
import yaml
import rclpy
from ament_index_python.packages import PackageNotFoundError, get_package_share_directory
from rclpy.executors import SingleThreadedExecutor
from rtabmap_msgs.msg import Info
from bag_lockstep import LockstepPlayer, ProcessTree
from graph_metrics import Graph, export_graph, load_tum
TEST_DIR = Path(__file__).resolve().parent
DATA_DIR = Path(os.environ.get('RTABMAP_DEMOS_TEST_DATA', TEST_DIR / 'data'))
# lockstep (default, see bag_lockstep.py) or chunked (LockstepPlayer.play_chunked()).
REPLAY = os.environ.get('RTABMAP_DEMOS_REPLAY', 'lockstep')
# chunked only: how many times the bag's own pace.
REPLAY_RATE = float(os.environ.get('RTABMAP_DEMOS_RATE', '1.0'))
GOLDEN_DIR = TEST_DIR / 'golden'
# The golden trajectory's frames in TF; unconnected to the robot's own tree.
GROUND_TRUTH_FRAME = 'golden_map'
GROUND_TRUTH_BASE_FRAME = 'golden_base'
@dataclass
class Scenario:
name: str
launch_file: str
bag: Union[str, List[str]] # several: played one after the other
# Topics the pipeline must have subscribed to before the replay can start.
required_topics: List[str]
launch_arguments: Dict[str, str] = field(default_factory=dict)
# ROS parameters set on every node the launch file starts (see _wrapper_launch()), for
# settings the launch file has no argument for. A node's own value for one wins.
parameters: Dict[str, object] = field(default_factory=dict)
# ROS parameters for one node, by node name, for a parameter name other nodes use too.
node_parameters: Dict[str, Dict[str, object]] = field(default_factory=dict)
# Packages the launch file needs besides ours: the scenario is skipped without them
# (not every ROS distro has them).
packages: List[str] = field(default_factory=list)
# With RTABMAP_DEMOS_REPLAY=chunked: how far rtabmap's last output may lag the last
# sensor message published, as it processes the data (seconds).
chunk_slack: float = 2.0
# How far a run may be from the golden graph.
max_node_difference: float = 0.02 # relative
# Loop closures, global and local together, may be fewer than the golden graph's by
# this ratio of them, or by 2, whichever is more: from one run to the next, a closure
# more or less is noise, however few there are. Together, as a place revisited can be
# closed by either: in stereo_outdoor, 13 global and 9 local closures in one run, 15
# and 5 in another.
closure_slack: float = 0.2
# False when the scenario turns loop closure detection off, against a golden graph
# made with it.
compare_closures: bool = True
max_rmse: float = 0.05 # m, Gt/Translational_rmse
max_rotational_rmse: float = 1.0 # deg, Gt/Rotational_rmse
def __str__(self):
return self.name
SCENARIOS = [
Scenario(
name='robot_mapping',
launch_file='robot_mapping_demo.launch.py',
bag='demo_mapping_bag',
required_topics=['/jn0/base_scan', '/data_throttled_image/compressed'],
launch_arguments={'rtabmap_viz': 'false', 'rviz': 'false'},
# Every image rgbd_sync makes reaches rtabmap: with a history of 1, the next one
# replaces one rtabmap has not received yet when it is busy.
parameters={'output_queue_size': 10},
# How many frames rtabmap merges into the previous node (rehearsal) depends on
# its build (its optional dependencies): 205 nodes in CI against 210 here. Loop
# closures vary from run to run (11 to 13 global ones), and so the errors:
# 0.046-0.053 m and up to 1.22 deg.
max_node_difference=0.05,
max_rmse=0.1,
max_rotational_rmse=2.0),
Scenario(
name='stereo_outdoor',
launch_file='stereo_outdoor_demo.launch.py',
# Both parts of the run, played one after the other.
bag=['stereo_outdoorA_bag', 'stereo_outdoorB_bag'],
required_topics=['/stereo_camera/left/image_raw_throttle/compressed',
'/stereo_camera/right/image_raw_throttle/compressed'],
launch_arguments={'rtabmap_viz': 'false', 'rviz': 'false'},
# As for netherdrone_lidar3d below: every pair stereo_sync makes reaches odometry
# and is registered (all 3741 of them on an idle machine).
parameters={'output_queue_size': 10,
'always_process_most_recent_frame': False},
# As for robot_mapping: with bag A alone, 161 nodes in CI against 185 here, and
# up to 3.06 deg.
max_node_difference=0.15,
max_rmse=0.1,
max_rotational_rmse=4.0),
Scenario(
name='netherdrone_lidar3d',
launch_file='netherdrone_lidar3d_demo.launch.py',
# The whole flight, its six parts played one after the other.
bag=[f'netherdrone_ouster_vertige_bag_{i}' for i in range(6)],
required_topics=['/os_cloud_node/points', '/imu/data_raw',
'/camera/image_raw/compressed', '/camera/camera_info'],
# A node is half a turn of the lidar's mast, about 4.4 s apart; the odometry
# poses in between are saved too (intermediate nodes), and compared as well.
launch_arguments={'rtabmap_viz': 'false', 'rviz': 'false', 'intermediate_nodes': 'true'},
# Every scan reaches odometry, and is registered. By default odometry drops those
# arriving while it is busy (as when lidar_deskewing, waiting for a transform
# asleep, looks idle to the lockstep player), and lidar_deskewing replaces a scan
# odometry has not received yet with the next one: how many depends on the
# machine. output_queue_size also reaches rgb_sync, for the camera. topic_queue_size
# reaches only icp_odometry: rgb_sync and point_cloud_assembler already default
# to 10, and rtabmap sets its own.
parameters={'output_queue_size': 10,
'topic_queue_size': 10,
'always_process_most_recent_frame': False},
# A node every 4.3 s, when the assembled cloud of half a turn of the mast is ready.
chunk_slack=5.0,
# Local closures only (no global ones: the camera's bag-of-words finds none),
# 25 in the golden graph, 19 in a Kilted CI run.
closure_slack=0.3,
max_rmse=0.1,
max_rotational_rmse=2.0,
max_node_difference=0.05),
Scenario(
name='find_object',
launch_file='find_object_demo.launch.py',
bag='demo_find_object_bag',
required_topics=['/base_scan', '/camera/data_throttled_image/compressed'],
launch_arguments={'rtabmap_viz': 'false', 'rviz': 'false', 'find_object_gui': 'false'},
# As for robot_mapping, with the same pipeline (find_object_2d besides it).
parameters={'output_queue_size': 10},
# Without loop closures (neither from the images nor by proximity), only odometry
# and the objects as landmarks constrain the map: how far it stays from the golden
# one, made with all of them, is what the landmarks are worth. 0.124 m and 1.06
# deg with the landmarks, against 0.708 m without them.
node_parameters={'rtabmap': {'Kp/MaxFeatures': '-1',
'RGBD/ProximityBySpace': 'false'}},
compare_closures=False,
packages=['find_object_2d'],
max_node_difference=0.05,
max_rmse=0.2,
max_rotational_rmse=2.0),
]
# Every QoS parameter of rtabmap's nodes: reliable (1). Their default, the system's, is best
# effort for a subscriber with Fast DDS, which drops what arrives while the node is busy:
# the lockstep player cannot see that (see bag_lockstep.py).
RELIABLE_QOS = {name: 1 for name in (
'qos', 'qos_camera_info', 'qos_env_sensor', 'qos_global_pose', 'qos_gps', 'qos_image',
'qos_imu', 'qos_odom', 'qos_pub', 'qos_scan', 'qos_scan_cloud', 'qos_sensor_data',
'qos_sub', 'qos_user_data')}
def _wrapper_launch(scenario: Scenario, rtabmap_parameters: Dict[str, object],
arguments: Dict[str, str], path: Path) -> Path:
"""Write a launch file that sets parameters on the demo's nodes, then includes the
demo's launch file with `arguments`.
The parameters go in a parameter file next to it, which launch_ros'
SetParametersFromFile gives to every node launched after it, whatever launch file they
come from: each node reads its own section. RELIABLE_QOS and scenario.parameters are
for every node (/**), and `rtabmap_parameters` for the node named rtabmap only (/**/rtabmap): the
ground truth frames, which the odometry nodes also read. A node's own value for a
parameter, set by its launch file, wins over the file's.
"""
demo = Path(get_package_share_directory('rtabmap_demos')) / 'launch' / scenario.launch_file
parameter_file = path.with_suffix('.yaml')
# The nodes' own sections first: after /**, rcl would not apply /** to the other nodes.
sections = {f'/**/{node}': {'ros__parameters': dict(values)}
for node, values in scenario.node_parameters.items()}
rtabmap_section = sections.setdefault('/**/rtabmap', {'ros__parameters': {}})
rtabmap_section['ros__parameters'].update(rtabmap_parameters)
sections['/**'] = {'ros__parameters': dict(RELIABLE_QOS, **scenario.parameters)}
parameter_file.write_text(yaml.safe_dump(sections, sort_keys=False))
path.write_text(
'from launch import LaunchDescription\n'
'from launch.actions import IncludeLaunchDescription\n'
'from launch.launch_description_sources import PythonLaunchDescriptionSource\n'
'from launch_ros.actions import SetParametersFromFile\n'
'\n'
'\n'
'def generate_launch_description():\n'
' return LaunchDescription([\n'
f' SetParametersFromFile({str(parameter_file)!r}),\n'
f' IncludeLaunchDescription(PythonLaunchDescriptionSource({str(demo)!r}),\n'
f' launch_arguments={list(arguments.items())!r}),\n'
' ])\n')
return path
def _stop(process: subprocess.Popen) -> bool:
"""Stop `ros2 launch` the way Ctrl-C does, so rtabmap closes its database.
Returns False if it had to be killed: rtabmap then did not close its database.
"""
if process.poll() is not None:
return True
os.killpg(process.pid, signal.SIGINT)
try:
process.wait(timeout=60)
return True
except subprocess.TimeoutExpired:
os.killpg(process.pid, signal.SIGKILL)
process.wait()
return False
# See bag_lockstep.py: publish() must have sent the message when it returns, in this
# process and in the demo's nodes alike. Read when each process initializes its RMW.
os.environ['RMW_FASTRTPS_PUBLICATION_MODE'] = 'SYNCHRONOUS'
def _die_with_parent():
"""In the launch process before exec: SIGINT it if the test process dies.
The launch runs in a session of its own (so it can be stopped as a group); without
this, a test killed by a timeout would leave the demo running.
"""
PR_SET_PDEATHSIG = 1
ctypes.CDLL('libc.so.6', use_errno=True).prctl(PR_SET_PDEATHSIG, signal.SIGINT)
def _replay(scenario: Scenario, bag: List[Path], results: Path, ground_truth=None):
"""Replay the bag; returns the statistics of rtabmap's last update.
rtabmap is stopped when this returns, its database closed with the optimized graph.
"""
# The database and the ground truth are for rtabmap only: the demos have no launch
# argument for them, they are set from the parameter file (see _wrapper_launch()).
rtabmap_parameters = {'database_path': str(results / 'rtabmap.db')}
if ground_truth:
rtabmap_parameters.update(ground_truth_frame_id=GROUND_TRUTH_FRAME,
ground_truth_base_frame_id=GROUND_TRUTH_BASE_FRAME)
arguments = dict(scenario.launch_arguments)
log = open(results / 'launch.log', 'w')
launch = subprocess.Popen(
['ros2', 'launch', str(_wrapper_launch(scenario, rtabmap_parameters, arguments,
results / 'demo.launch.py'))],
stdout=log, stderr=subprocess.STDOUT, start_new_session=True,
preexec_fn=_die_with_parent)
context = rclpy.Context()
rclpy.init(context=context)
node = rclpy.create_node('demo_playback_test', context=context)
stats = {}
info_stamp = [0.0]
def on_info(msg):
stats.clear()
stats.update(zip(msg.stats_keys, msg.stats_values))
info_stamp[0] = max(info_stamp[0], msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9)
node.create_subscription(Info, '/info', on_info, 10)
executor = SingleThreadedExecutor(context=context)
executor.add_node(node)
spinner = threading.Thread(target=executor.spin, daemon=True)
spinner.start()
try:
tree = ProcessTree(launch.pid)
player = LockstepPlayer(node, [str(b) for b in bag], tree)
if ground_truth:
player.add_trajectory(GROUND_TRUTH_FRAME, GROUND_TRUTH_BASE_FRAME, ground_truth)
player.connect(scenario.required_topics)
nodes = {pid: Path(f'/proc/{pid}/comm').read_text().strip() for pid in tree.pids()}
print(f'\n{scenario.name}: {len(nodes)} processes ({", ".join(nodes.values())}), '
f'gating {", ".join(sorted(player.gated))}', flush=True)
start = time.monotonic()
last_report = [0.0]
def progress(done, total):
# A node that died leaves the others idle forever: the replay would go on
# into nothing and only fail at the end. Stop at once instead.
if done % 100 == 0:
gone = [name for pid, name in nodes.items() if not Path(f'/proc/{pid}').exists()]
if gone:
raise RuntimeError(f'{", ".join(gone)} exited during the replay '
f'(see {results / "launch.log"})')
now = time.monotonic()
if now - last_report[0] > 30 or done == total:
last_report[0] = now
print(f' {done}/{total} messages, {now - start:.0f} s', flush=True)
if REPLAY == 'chunked':
player.play_chunked(lambda: info_stamp[0], slack=scenario.chunk_slack,
rate=REPLAY_RATE, progress=progress)
else:
player.play(progress=progress)
print(f' replayed in {time.monotonic() - start:.0f} s', flush=True)
result = dict(stats)
finally:
executor.shutdown()
node.destroy_node()
rclpy.shutdown(context=context)
spinner.join(timeout=10)
stopped = _stop(launch)
log.close()
if not stopped:
raise RuntimeError(f'{scenario.launch_file} did not stop within 60 s and was killed: '
f'rtabmap did not close its database (see {results / "launch.log"})')
return result
@pytest.mark.parametrize('scenario', SCENARIOS, ids=str)
def test_demo_playback(scenario: Scenario, tmp_path):
for package in scenario.packages:
try:
get_package_share_directory(package)
except PackageNotFoundError:
pytest.skip(f'{package} is not installed')
bag = [DATA_DIR / name for name in
([scenario.bag] if isinstance(scenario.bag, str) else scenario.bag)]
for b in bag:
if not b.is_dir():
pytest.skip(f'{b} not found; fetch it with {TEST_DIR / "fetch_test_data.sh"}')
results = Path(os.environ.get('RTABMAP_DEMOS_TEST_RESULTS', tmp_path)) / scenario.name
results.mkdir(parents=True, exist_ok=True)
golden_prefix = GOLDEN_DIR / scenario.name
update = os.environ.get('RTABMAP_DEMOS_UPDATE_GOLDEN') == '1'
if not update and not Path(str(golden_prefix) + '.g2o').is_file():
pytest.fail(f'no golden graph {golden_prefix}.g2o; '
'run once with RTABMAP_DEMOS_UPDATE_GOLDEN=1 to create it')
ground_truth = None if update else load_tum(str(golden_prefix) + '.tum')
stats = _replay(scenario, bag, results, ground_truth)
prefix = results / scenario.name
export_graph(results / 'rtabmap.db', prefix)
summary = Graph.load(str(prefix) + '.g2o').summary()
print(f' {summary}; graph exported to {prefix}.g2o', flush=True)
if update:
GOLDEN_DIR.mkdir(exist_ok=True)
for suffix in ('.g2o', '.tum'):
shutil.copyfile(str(prefix) + suffix, str(golden_prefix) + suffix)
print(f' golden graph updated: {golden_prefix}.g2o', flush=True)
return
expected = Graph.load(str(golden_prefix) + '.g2o').summary()
rmse = stats.get('Gt/Translational_rmse/m')
rotational_rmse = stats.get('Gt/Rotational_rmse/deg')
problems = []
if abs(summary['nodes'] - expected['nodes']) > scenario.max_node_difference * expected['nodes']:
problems.append(f'nodes: {summary["nodes"]}, golden {expected["nodes"]}')
if scenario.compare_closures:
closures, golden_closures = (
g['global_closures'] + g['local_closures'] for g in (summary, expected))
minimum = golden_closures - max(2, scenario.closure_slack * golden_closures)
if closures < minimum:
problems.append(f'loop closures (global and local): {closures}, golden '
f'{golden_closures} (at least {minimum:.0f} expected)')
if rmse is None:
problems.append('rtabmap reported no Gt/* statistics: the golden trajectory did not '
f'reach it as ground truth (see {results / "launch.log"})')
else:
if rmse > scenario.max_rmse:
problems.append(f'Gt/Translational_rmse: {rmse:.3f} m (max {scenario.max_rmse} m)')
if rotational_rmse > scenario.max_rotational_rmse:
problems.append(f'Gt/Rotational_rmse: {rotational_rmse:.2f} deg '
f'(max {scenario.max_rotational_rmse} deg)')
print(f' vs golden {expected}: RMSE {rmse:.3f} m, {rotational_rmse:.2f} deg',
flush=True)
assert not problems, f'{scenario.name}:\n ' + '\n '.join(problems)
if __name__ == '__main__':
sys.exit(pytest.main([__file__, '-s', *sys.argv[1:]]))
rtabmap_examples/CMakeLists.txt
+11
View File
@@ -7,4 +7,15 @@ install(DIRECTORY launch config
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)
# rtabmap_launch's launch file test, on this package's installed launch files: each
# dry-run with each of its switches; nothing is started, so it needs no DDS domain of its
# own. Run from where rtabmap_launch installed it: no pytest cache written there.
find_package(rtabmap_launch REQUIRED)
ament_add_pytest_test(test_launch_files ${rtabmap_launch_DIR}/../test/test_launch_files.py
ENV RTABMAP_LAUNCH_TEST_PACKAGE=${PROJECT_NAME} "PYTEST_ADDOPTS=-p no:cacheprovider"
TIMEOUT 900)
endif()
ament_package()
rtabmap_examples/README.md
+3
View File
@@ -0,0 +1,3 @@
# rtabmap_examples
Starting points for running RTAB-Map with your own sensor. Each launch file connects one camera or lidar driver (or a public dataset) to RTAB-Map's odometry and SLAM nodes with working parameters. Copy the one closest to your setup and adapt it.
rtabmap_examples/launch/lidar3d_assemble.launch.py
+110 -11
View File
@@ -14,13 +14,20 @@
#
# If a camera is used, make sure TF between lidar/base frame and camera is
# already calibrated. To provide image data to this example, you should use
# rtabmap_sync's rgbd_sync or stereo_sync node.
# rtabmap_sync's rgbd_sync or stereo_sync node. For a camera without depth, use
# rgb_sync and set gen_depth:=true to make its depth from the lidar.
#
# Launch the example by adjusting the lidar topic, imu topic and base frame:
# $ ros2 launch rtabmap_examples lidar3d.launch.py lidar_topic:=/velodyne_points imu_topic:=/imu/data frame_id:=velodyne
#
# For a complete example with a recorded bag (Ouster on a rotating mast, IMU and
# a camera without depth), see rtabmap_demos' netherdrone_lidar3d_demo.launch.py.
import os
from launch import LaunchDescription, LaunchContext
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
@@ -52,6 +59,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
voxel_size = LaunchConfiguration('voxel_size')
voxel_size_value = float(voxel_size.perform(context))
lidar_range_min = float(LaunchConfiguration('lidar_range_min').perform(context))
use_sim_time = LaunchConfiguration('use_sim_time')
@@ -61,8 +70,12 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
deskewing_slerp = LaunchConfiguration('deskewing_slerp').perform(context)
deskewing_slerp = deskewing_slerp == 'true' or deskewing_slerp == 'True'
# Rule of thumb:
max_correspondence_distance = voxel_size_value * 10.0
max_correspondence_distance = LaunchConfiguration('max_correspondence_distance').perform(context)
if max_correspondence_distance:
max_correspondence_distance = float(max_correspondence_distance)
else:
# Rule of thumb:
max_correspondence_distance = voxel_size_value * 10.0
shared_parameters = {
'use_sim_time': use_sim_time,
@@ -80,7 +93,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'Icp/MaxTranslation': '3',
'Icp/MaxCorrespondenceDistance': str(max_correspondence_distance),
'Icp/Strategy': '1',
'Icp/OutlierRatio': '0.7',
'Icp/OutlierRatio': LaunchConfiguration('icp_outlier_ratio').perform(context),
}
icp_odometry_parameters = {
@@ -88,10 +101,11 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'wait_imu_to_init': True,
'odom_frame_id': 'icp_odom',
'guess_frame_id': fixed_frame_id,
'scan_range_min': lidar_range_min,
# RTAB-Map's internal parameters are strings:
'Odom/ScanKeyFrameThr': '0.4',
'Odom/ScanKeyFrameThr': LaunchConfiguration('odom_key_frame_threshold').perform(context),
'OdomF2M/ScanSubtractRadius': str(voxel_size_value),
'OdomF2M/ScanMaxSize': '15000',
'OdomF2M/ScanMaxSize': LaunchConfiguration('odom_local_map_size').perform(context),
'OdomF2M/BundleAdjustment': 'false',
'Icp/CorrespondenceRatio': '0.01'
}
@@ -107,6 +121,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'Rtabmap/DetectionRate': '0', # indirectly set to 1 Hz by the assembling time below (1s)
'RGBD/ProximityMaxGraphDepth': '0',
'RGBD/ProximityPathMaxNeighbors': '1',
'RGBD/ProximityAngle': '0', # assuming 360 lidar
'RGBD/AngularUpdate': '0.05',
'RGBD/LinearUpdate': '0.05',
'RGBD/CreateOccupancyGrid': 'false',
@@ -115,6 +130,21 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'Reg/Strategy': '1',
'Icp/CorrespondenceRatio': str(LaunchConfiguration('min_loop_closure_overlap').perform(context))
}
# Only for the camera, if any
camera_parameters = {
'gen_depth': LaunchConfiguration('gen_depth').perform(context).lower() == 'true',
'gen_depth_decimation': int(LaunchConfiguration('gen_depth_decimation').perform(context)),
'gen_depth_fill_holes_size': int(LaunchConfiguration('gen_depth_fill_holes_size').perform(context)),
'Rtabmap/ImagesAlreadyRectified': str(LaunchConfiguration('rectify_images').perform(context).lower() != 'true').lower(),
}
if camera_parameters['gen_depth']:
# The depth made from the lidar is 32 bits float: save it in 16 bits (mm), the
# format compressed depth images use.
camera_parameters['Mem/SaveDepth16Format'] = 'true'
database_parameters = {
}
remappings = [('imu', imu_topic),
('odom', 'icp_odom')]
@@ -124,6 +154,11 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
else:
remappings.append(('rgbd_images', LaunchConfiguration('rgbd_images_topic')))
intermediate_nodes = LaunchConfiguration('intermediate_nodes').perform(context).lower() == 'true'
if intermediate_nodes and not external_odom_frame_id:
# Every odometry pose between the nodes is saved as a node without data.
rtabmap_parameters['Rtabmap/CreateIntermediateNodes'] = 'true'
arguments = []
if localization:
rtabmap_parameters['Mem/IncrementalMemory'] = 'False'
@@ -144,7 +179,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'use_sim_time': use_sim_time,
'fixed_frame_id': fixed_frame_id,
'wait_for_transform': 0.2,
'slerp': deskewing_slerp}],
'slerp': deskewing_slerp,
'qos': LaunchConfiguration('qos')}],
remappings=[
('input_cloud', lidar_topic)
]),
@@ -155,6 +191,10 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
parameters=[{
'use_sim_time': use_sim_time,
'assembling_time': LaunchConfiguration('assembling_time'),
'range_min': lidar_range_min,
'voxel_size': float(LaunchConfiguration('assembler_voxel_size').perform(context)),
'qos': LaunchConfiguration('qos'),
'qos_odom': LaunchConfiguration('qos'),
'fixed_frame_id': (external_odom_frame_id if external_odom_frame_id else "")}], # This will make the node subscribing to icp odometry topic "icp_odom"
remappings=[('cloud', lidar_topic_deskewed),
('odom', 'icp_odom')]),
@@ -162,20 +202,23 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
# Update the map
Node(
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[shared_parameters, rtabmap_parameters,
parameters=[shared_parameters, rtabmap_parameters, database_parameters, camera_parameters,
{'subscribe_rgbd': rgbd_image_used,
'rgbd_cameras': rgbd_cameras,
'topic_queue_size': 40,
'sync_queue_size': 40,}],
remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic'))],
remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic')),
('inter_odom', 'icp_odom')],
arguments=arguments),
# Just for visualization
Node(
condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=[shared_parameters, rtabmap_parameters,
{'odometry_node_name': "icp_odometry"}],
remappings=remappings + [('scan_cloud', viz_topic)])
remappings=remappings + [('scan_cloud', viz_topic)],
arguments=['-d', LaunchConfiguration('rtabmap_viz_cfg')])
]
if not external_odom_frame_id:
@@ -195,7 +238,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'use_sim_time': use_sim_time,
'fixed_frame_id': fixed_frame_id,
'base_frame_id': frame_id,
'wait_for_transform_duration': 0.001}],
'wait_for_transform_duration': 0.001,
'qos': LaunchConfiguration('qos')}],
remappings=[('imu/data', imu_topic)]))
return nodes
@@ -244,10 +288,50 @@ def generate_launch_description():
'rgbd_images_topic', default_value='',
description='RGBD images topic (ignored if empty, override "rgbd_image_topic" if set). Would be the output of a rtabmap_sync\'s rgbdx_sync node.'),
DeclareLaunchArgument(
'gen_depth', default_value='false',
description='With a camera without depth (rgbd_image_topic from rgb_sync), make its depth image by projecting the assembled lidar cloud into it, so that its visual features get 3D positions.'),
DeclareLaunchArgument(
'gen_depth_decimation', default_value='4',
description='Resolution divider of the depth made by gen_depth; it must divide the image size. Lidar points are sparse in a full resolution image anyway.'),
DeclareLaunchArgument(
'gen_depth_fill_holes_size', default_value='2',
description='Fill holes up to this many pixels (after decimation) in the depth made by gen_depth, between lidar points; 0 disables.'),
DeclareLaunchArgument(
'rectify_images', default_value='false',
description='The camera images are not rectified: rectify them with their camera_info before use.'),
DeclareLaunchArgument(
'voxel_size', default_value='0.1',
description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),
DeclareLaunchArgument(
'max_correspondence_distance', default_value='',
description='Maximum distance (m) between ICP correspondences. Empty: 10 times voxel_size.'),
DeclareLaunchArgument(
'icp_outlier_ratio', default_value='0.7',
description='Icp/OutlierRatio: expected ratio of outliers between scans.'),
DeclareLaunchArgument(
'odom_key_frame_threshold', default_value='0.4',
description='Odom/ScanKeyFrameThr: a new scan is added to the odometry local map when its overlap with it is below this ratio.'),
DeclareLaunchArgument(
'odom_local_map_size', default_value='15000',
description='OdomF2M/ScanMaxSize: maximum number of points of the odometry local map.'),
DeclareLaunchArgument(
'assembler_voxel_size', default_value='0.0',
description='Voxel size (m) of the clouds assembled for the map; 0 keeps every point.'),
DeclareLaunchArgument(
'lidar_range_min', default_value='0.0',
description='Lidar points closer than this (m) are ignored, by odometry and in the map; 0 keeps them all. Set it to remove hits on the robot itself.'),
DeclareLaunchArgument(
'min_loop_closure_overlap', default_value='0.2',
description='Minimum scan overlap pourcentage to accept a loop closure.'),
@@ -264,10 +348,25 @@ def generate_launch_description():
'deskewing_slerp', default_value='true',
description='Use fast slerp interpolation between first and last stamps of the scan for deskewing. It would less accruate than requesting TF for every points, but a lot faster. Enable this if the delay of the deskewed scan is significant larger than the original scan.'),
DeclareLaunchArgument(
'intermediate_nodes', default_value='false',
description='Also save every odometry pose between the map\'s nodes in the database, as nodes without data (Rtabmap/CreateIntermediateNodes). Only with icp_odometry (external_odom_frame_id empty).'),
DeclareLaunchArgument(
'qos', default_value='1',
description='Quality of Service: 0=system default, 1=reliable, 2=best effort.'),
DeclareLaunchArgument(
'rtabmap_viz', default_value='true',
description='Launch RTAB-Map UI.'),
DeclareLaunchArgument(
'rtabmap_viz_cfg', default_value='~/.ros/rtabmapGUI.ini',
description='Configuration file of rtabmap_viz, where it also saves its settings.'),
OpaqueFunction(function=launch_setup),
])
rtabmap_examples/launch/realsense_d400.launch.py
+1 -1
View File
@@ -36,7 +36,7 @@ def generate_launch_description():
get_package_share_directory('realsense2_camera'), 'launch'),
'/rs_launch.py']),
launch_arguments={'align_depth.enable': 'true',
'rgb_camera.profile': '640x360x30'}.items(),
'rgb_camera.color_profile': '640x360x30'}.items(),
),
Node(
rtabmap_examples/launch/realsense_d435i_color.launch.py
+1 -1
View File
@@ -58,7 +58,7 @@ def generate_launch_description():
'unite_imu_method': LaunchConfiguration('unite_imu_method'),
'align_depth.enable': 'true',
'enable_sync': 'true',
'rgb_camera.profile': '640x360x30'}.items(),
'rgb_camera.color_profile': '640x360x30'}.items(),
),
Node(
rtabmap_examples/launch/realsense_d435i_color_composition.launch.py
+1 -1
View File
@@ -81,7 +81,7 @@ def generate_launch_description():
'unite_imu_method': LaunchConfiguration('unite_imu_method'),
'align_depth.enable': True,
'enable_sync': True,
'rgb_camera.profile': '640x360x30',
'rgb_camera.color_profile': '640x360x30',
'depth_module.emitter_enabled': 1}], # Make sure IR emitter is enabled
extra_arguments=intra_process),
rtabmap_examples/launch/realsense_d435i_combined.launch.py
+1 -1
View File
@@ -75,7 +75,7 @@ def generate_launch_description():
'enable_infra2': 'true',
'align_depth.enable': 'true',
'enable_sync': 'true',
'rgb_camera.profile': '640x360x30'}.items(),
'rgb_camera.color_profile': '640x360x30'}.items(),
),
Node(
rtabmap_examples/package.xml
+8
View File
@@ -23,6 +23,14 @@
<exec_depend>tf2_ros</exec_depend>
<exec_depend>realsense2_camera</exec_depend>
<exec_depend>velodyne</exec_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_ros</test_depend>
<test_depend>python3-pytest</test_depend>
<test_depend>python3-yaml</test_depend>
<test_depend>ament_index_python</test_depend>
<test_depend>rtabmap_launch</test_depend>
<export>
<build_type>ament_cmake</build_type>
rtabmap_launch/CMakeLists.txt
+14
View File
@@ -6,5 +6,19 @@ find_package(ament_cmake REQUIRED)
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
# The launch file test, also run by rtabmap_examples and rtabmap_demos on their own
# launch files.
install(FILES test/launch_dry_run.py test/test_launch_files.py
DESTINATION share/${PROJECT_NAME}/test
)
if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)
# Dry-runs every installed launch file with each of its switches; nothing is started,
# so it needs no DDS domain of its own. See test/launch_dry_run.py.
ament_add_pytest_test(test_launch_files test/test_launch_files.py
ENV RTABMAP_LAUNCH_TEST_PACKAGE=${PROJECT_NAME}
TIMEOUT 900)
endif()
ament_package()
rtabmap_launch/launch/rtabmap.launch.py
+9 -1
View File
@@ -84,7 +84,9 @@ def launch_setup(context, *args, **kwargs):
remappings=[
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('rgb_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
('out', LaunchConfiguration('rgb_topic_relay'))],
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
parameters=[{'in_transport': LaunchConfiguration('rgb_image_transport'), 'out_transport': 'raw'}],
namespace=LaunchConfiguration('namespace')),
Node(
package='image_transport', executable='republish', name='republish_depth',
@@ -92,7 +94,9 @@ def launch_setup(context, *args, **kwargs):
remappings=[
(['in/', LaunchConfiguration('depth_image_transport')], [LaunchConfiguration('depth_topic'), '/', LaunchConfiguration('depth_image_transport')]),
('out', LaunchConfiguration('depth_topic_relay'))],
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=[LaunchConfiguration('depth_image_transport'), 'raw'],
parameters=[{'in_transport': LaunchConfiguration('depth_image_transport'), 'out_transport': 'raw'}],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_sync', executable='rgbd_sync', name="rgbd_sync", output="screen",
@@ -120,7 +124,9 @@ def launch_setup(context, *args, **kwargs):
remappings=[
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('left_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
('out', LaunchConfiguration('left_image_topic_relay'))],
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
parameters=[{'in_transport': LaunchConfiguration('rgb_image_transport'), 'out_transport': 'raw'}],
namespace=LaunchConfiguration('namespace')),
Node(
package='image_transport', executable='republish', name='republish_right',
@@ -128,7 +134,9 @@ def launch_setup(context, *args, **kwargs):
remappings=[
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('right_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
('out', LaunchConfiguration('right_image_topic_relay'))],
# The transports: as arguments up to humble, as parameters from jazzy.
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
parameters=[{'in_transport': LaunchConfiguration('rgb_image_transport'), 'out_transport': 'raw'}],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_sync', executable='stereo_sync', name="stereo_sync", output="screen",
@@ -463,7 +471,7 @@ def generate_launch_description():
DeclareLaunchArgument('use_action_for_goal', default_value='false', description='Connect to nav2\'s navigate_to_pose action server instead of publishing the output goal topic.'),
DeclareLaunchArgument('ground_truth_frame_id', default_value='', description='e.g., "world"'),
DeclareLaunchArgument('ground_truth_base_frame_id', default_value='', description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)'),
DeclareLaunchArgument('ground_truth_base_frame_id', default_value=[LaunchConfiguration('frame_id'), '_gt'], description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree). Empty: the ground truth is not used.'),
DeclareLaunchArgument('approx_sync', default_value='false', description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'),
DeclareLaunchArgument('approx_sync_max_interval', default_value='0.0', description='(sec) 0 means infinite interval duration (used with approx_sync=true)'),
rtabmap_launch/package.xml
+8 -1
View File
@@ -20,7 +20,14 @@
<exec_depend>rtabmap_slam</exec_depend>
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>rtabmap_viz</exec_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_index_python</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_ros</test_depend>
<test_depend>python3-pytest</test_depend>
<test_depend>python3-yaml</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
rtabmap_launch/test/launch_dry_run.py
+492
View File
@@ -0,0 +1,492 @@
"""
Run a launch file through a real LaunchService without starting any process.
Every action is visited as it would be by `ros2 launch`: arguments are declared and
validated, conditions evaluated, OpaqueFunctions called, includes loaded, and every
substitution of every node resolved. Only the very last step -- spawning the process,
or asking a container to load a component -- is replaced by recording what would have
been started. What a demo breaks on is almost always visible at that point: a file
moved, an argument renamed in an included launch file, an RTAB-Map parameter renamed,
an executable that no longer exists.
Packages the machine does not have (simulators, robot descriptions) are replaced by
empty stubs instead of failing the run: their launch files include nothing and their
nodes are recorded unchecked. What the demo itself passes on is still checked. Packages
named rtabmap* are never stubbed, so a typo in one of ours still fails.
check_launch_file() is the whole check of one launch file, as test_launch_files.py runs
it. Both are installed with rtabmap_launch (share/rtabmap_launch/test), so that the
launch files of rtabmap_launch, rtabmap_examples and rtabmap_demos are all checked by the
same test.
"""
import contextlib
import functools
import logging
import os
import subprocess
import tempfile
from dataclasses import dataclass, field
from pathlib import Path
from typing import Dict, List, Optional, Set, Tuple
import ament_index_python
import ament_index_python.packages
import launch_ros.substitutions.find_package
import yaml
from ament_index_python.packages import (PackageNotFoundError, get_package_prefix,
get_package_share_directory)
from launch import LaunchContext, LaunchService
from launch.actions import (DeclareLaunchArgument, ExecuteLocal, IncludeLaunchDescription,
TimerAction)
from launch.launch_description_sources import (AnyLaunchDescriptionSource,
FrontendLaunchDescriptionSource,
PythonLaunchDescriptionSource)
from launch.launch_description_sources.python_launch_file_utilities import \
get_launch_description_from_python_launch_file
from launch.substitutions.substitution_failure import SubstitutionFailure
from launch.utilities import normalize_to_list_of_substitutions, perform_substitutions
from launch_ros.actions import LifecycleNode, LoadComposableNodes, Node
from launch_ros.utilities import evaluate_parameters
@dataclass
class Started:
"""A process or component the launch file would have started."""
kind: str # 'node', 'component' or 'process'
package: Optional[str]
executable: str # executable, component plugin, or cmd[0]
stubbed: bool
cmd: List[str] = field(default_factory=list)
parameters: Dict[str, object] = field(default_factory=dict)
def describe(self) -> str:
if self.package:
return f'{self.kind} {self.package}/{self.executable}'
return f'{self.kind} {self.executable}'
@dataclass
class DryRunResult:
started: List[Started] = field(default_factory=list)
includes: List[str] = field(default_factory=list)
stubbed_packages: Set[str] = field(default_factory=set)
problems: List[str] = field(default_factory=list)
def _is_rtabmap_package(package: Optional[str]) -> bool:
return bool(package) and package.startswith('rtabmap')
def _flatten(params: dict, prefix: str = '') -> Dict[str, object]:
out = {}
for key, value in params.items():
name = f'{prefix}{key}'
if isinstance(value, dict):
out.update(_flatten(value, name + '.'))
else:
out[name] = value
return out
class _ParamsLoader(yaml.SafeLoader):
"""launch_ros writes a list parameter given as a Python tuple with its Python tag."""
_ParamsLoader.add_constructor(
'tag:yaml.org,2002:python/tuple',
lambda loader, node: tuple(loader.construct_sequence(node)))
def _load_param_file(path: str) -> Dict[str, object]:
"""All parameters of a ROS 2 params file, every node block merged."""
with open(path) as f:
content = yaml.load(f, Loader=_ParamsLoader) or {}
params = {}
for block in content.values():
if isinstance(block, dict) and isinstance(block.get('ros__parameters'), dict):
params.update(_flatten(block['ros__parameters']))
return params
class _DryRun:
"""The patched hooks. One instance per run; they all record into self.result."""
def __init__(self, stub_root: str, known_parameters: Optional[Set[str]]):
self.result = DryRunResult()
self.stub_root = stub_root
self.known_parameters = known_parameters
self.rtabmap_shares = sorted(
os.path.join(prefix, 'share', name)
for name, prefix in ament_index_python.get_packages_with_prefixes().items()
if _is_rtabmap_package(name))
self._real_get_package_prefix = ament_index_python.packages.get_package_prefix
# -- checks -------------------------------------------------------------------------
def problem(self, msg: str):
if msg not in self.result.problems:
self.result.problems.append(msg)
def is_stub_path(self, path: str) -> bool:
return path.startswith(self.stub_root + os.sep)
def in_rtabmap_share(self, path: str) -> bool:
return any(path == share or path.startswith(share + os.sep)
for share in self.rtabmap_shares)
def check_path(self, value, where: str):
"""A path into one of our packages must exist. Others are not ours to check."""
if isinstance(value, str) and self.in_rtabmap_share(value) and not os.path.exists(value):
self.problem(f'{where}: {value} does not exist')
def check_parameters(self, started: Started):
"""RTAB-Map's own parameters ("Group/Name") must exist in the installed library."""
if self.known_parameters is None or not _is_rtabmap_package(started.package):
return
for name, value in started.parameters.items():
self.check_path(value, f'{started.describe()} parameter {name}')
group, sep, rest = name.partition('/')
if not sep or not group.isalnum() or '/' in rest or '.' in name:
continue
if name not in self.known_parameters:
# Renamed parameters still work, with a warning asking to update the
# launch file; the installed library no longer lists the old name.
self.problem(f'{started.describe()}: "{name}" is not a parameter of the '
'installed RTAB-Map (renamed or removed)')
def record(self, started: Started):
self.check_parameters(started)
self.result.started.append(started)
# -- package lookup -----------------------------------------------------------------
def get_package_prefix(self, package_name):
try:
return self._real_get_package_prefix(package_name)
except PackageNotFoundError:
if _is_rtabmap_package(package_name):
raise
prefix = os.path.join(self.stub_root, package_name)
os.makedirs(os.path.join(prefix, 'share', package_name), exist_ok=True)
self.result.stubbed_packages.add(package_name)
return prefix
def is_stubbed(self, package: Optional[str]) -> bool:
return package in self.result.stubbed_packages
# -- launch hooks -------------------------------------------------------------------
def wrap_get_launch_description(self, original):
def _get_launch_description(source, location):
if self.is_stub_path(location):
from launch import LaunchDescription
return LaunchDescription([])
return original(source, location)
return _get_launch_description
def wrap_include_execute(self, original):
def execute(action: IncludeLaunchDescription, context: LaunchContext):
entities = original(action, context)
location = action.launch_description_source.location
self.result.includes.append(location)
passed = {
perform_substitutions(context, normalize_to_list_of_substitutions(name)):
perform_substitutions(context, normalize_to_list_of_substitutions(value))
for name, value in action.launch_arguments}
for name, value in passed.items():
self.check_path(value, f'argument {name} passed to {os.path.basename(location)}')
# Launch accepts any argument and silently ignores the ones the included file
# does not declare, so a renamed argument breaks the demo without a word. For
# our own files it is always a mistake; others may read undeclared ones.
if any(location.startswith(share + os.sep) for share in self.rtabmap_shares):
declared = {
arg.name for arg in
action.launch_description_source.get_launch_description(context)
.get_launch_arguments()}
for name in sorted(set(passed) - declared):
self.problem(
f'argument "{name}" passed to {os.path.basename(location)}, '
'which does not declare it')
return entities
return execute
def wrap_declare_execute(self, original):
def execute(action: DeclareLaunchArgument, context: LaunchContext):
entities = original(action, context)
self.check_path(context.launch_configurations.get(action.name),
f'launch argument {action.name}')
return entities
return execute
def execute_local(self, action: ExecuteLocal, context: LaunchContext):
"""Record the process instead of starting it."""
package = None
if isinstance(action, Node):
package = perform_substitutions(
context, normalize_to_list_of_substitutions(action.node_package))
cmd = []
for i, part in enumerate(action.cmd):
try:
cmd.append(perform_substitutions(context, part))
except (SubstitutionFailure, PackageNotFoundError) as e:
# The executable of a stubbed package cannot be found, and a plain
# ExecuteProcess may call a tool (gz, xacro) this machine does not have.
if i == 0 and (self.is_stubbed(package) or not isinstance(action, Node)):
cmd.append('<unresolved>')
else:
self.problem(f'{package or "process"}: {e}')
return None
if isinstance(action, Node):
executable = perform_substitutions(
context, normalize_to_list_of_substitutions(action.node_executable))
started = Started('node', package, executable, self.is_stubbed(package), cmd)
else:
started = Started('process', None, os.path.basename(cmd[0]), False, cmd)
for i, token in enumerate(cmd):
self.check_path(token, started.describe())
previous = cmd[i - 1] if i > 0 else None
if previous == '--params-file':
if not self.is_stub_path(token) and not os.path.isfile(token):
self.problem(f'{started.describe()}: params file {token} does not exist')
continue
if not self.is_stub_path(token):
started.parameters.update(_load_param_file(token))
elif previous == '-p' and ':=' in token:
name, value = token.split(':=', 1)
started.parameters[name] = value
elif (previous == '-d' and os.path.isabs(token) and not self.is_stub_path(token)
and not self.in_rtabmap_share(token) and not os.path.exists(token)):
# rviz2's config; rtabmap's own -d (delete the database) takes no value.
self.problem(f'{started.describe()}: -d {token} does not exist')
self.record(started)
return None
def wrap_load_composable_nodes_init(self, original):
def __init__(action, *args, **kwargs):
original(action, *args, **kwargs)
descriptions = kwargs.get('composable_node_descriptions')
if descriptions is None and args:
descriptions = args[0]
action._dry_run_descriptions = list(descriptions or [])
return __init__
def load_composable_nodes(self, action: LoadComposableNodes, context: LaunchContext):
"""Record the components instead of asking the container to load them."""
for description in action._dry_run_descriptions:
package = perform_substitutions(context, description.package)
plugin = perform_substitutions(context, description.node_plugin)
# A component's package is not looked up by launch, only by the container
# loading it: look it up here, so a package not installed gets stubbed like
# a node's would.
self.get_package_prefix(package)
stubbed = self.is_stubbed(package)
started = Started('component', package, plugin, stubbed)
if not stubbed:
try:
content, _ = ament_index_python.get_resource('rclcpp_components', package)
plugins = [line.split(';')[0] for line in content.splitlines()]
if plugin not in plugins:
self.problem(f'component {plugin} is not registered by {package}')
except LookupError:
self.problem(f'package {package} registers no components (wanted {plugin})')
if description.parameters is not None:
for evaluated in evaluate_parameters(context, description.parameters):
if isinstance(evaluated, dict):
started.parameters.update(_flatten(evaluated))
else:
path = str(evaluated)
if not os.path.isfile(path):
self.problem(f'{started.describe()}: params file {path} does not exist')
else:
started.parameters.update(_load_param_file(path))
self.record(started)
return None
class _ErrorCollector(logging.Handler):
"""LaunchService reports an exception by logging it and returning 1.
launch_ros only warns about a parameter file that does not exist, and starts the
node without it; for a demo that is as broken as an exception.
"""
def __init__(self):
super().__init__(logging.WARNING)
self.messages = []
def emit(self, record):
message = record.getMessage()
if record.levelno >= logging.ERROR or 'Parameter file path is not a file' in message:
self.messages.append(message)
@contextlib.contextmanager
def _patched(session: _DryRun):
patches = []
def patch(owner, name, value):
patches.append((owner, name, getattr(owner, name)))
setattr(owner, name, value)
# Launch files bind these by name when they are loaded -- which happens inside the
# run, after the patch -- but launch_ros bound its copies at import.
for module in (ament_index_python.packages, ament_index_python,
launch_ros.substitutions.find_package):
patch(module, 'get_package_prefix', session.get_package_prefix)
for cls in (PythonLaunchDescriptionSource, AnyLaunchDescriptionSource,
FrontendLaunchDescriptionSource):
patch(cls, '_get_launch_description',
session.wrap_get_launch_description(cls._get_launch_description))
patch(IncludeLaunchDescription, 'execute',
session.wrap_include_execute(IncludeLaunchDescription.execute))
patch(DeclareLaunchArgument, 'execute',
session.wrap_declare_execute(DeclareLaunchArgument.execute))
# Node and ExecuteProcess do all their substitutions, then hand over to
# ExecuteLocal.execute to spawn. Stopping there keeps everything before it real.
patch(ExecuteLocal, 'execute', lambda action, context: session.execute_local(action, context))
# LifecycleNode subscribes to the node through rclpy before running it.
patch(LifecycleNode, 'execute', lambda action, context: Node.execute(action, context))
patch(LoadComposableNodes, '__init__',
session.wrap_load_composable_nodes_init(LoadComposableNodes.__init__))
patch(LoadComposableNodes, 'execute',
lambda action, context: session.load_composable_nodes(action, context))
# Timers only wait for a simulator that is not there; what they start is what matters.
patch(TimerAction, 'execute', lambda action, context: list(action.actions))
try:
yield
finally:
for owner, name, value in reversed(patches):
setattr(owner, name, value)
@contextlib.contextmanager
def _restored_environ():
# On Humble SetEnvironmentVariable writes os.environ directly, and some demos set
# os.environ themselves (TURTLEBOT3_MODEL). Keep each run from seeing the last one's.
saved = os.environ.copy()
try:
yield
finally:
os.environ.clear()
os.environ.update(saved)
@contextlib.contextmanager
def _session(known_parameters):
with tempfile.TemporaryDirectory(prefix='launch_dry_run_stubs_') as stub_root:
session = _DryRun(os.path.realpath(stub_root), known_parameters)
with _patched(session), _restored_environ():
yield session
def declared_arguments(launch_file: str) -> List[DeclareLaunchArgument]:
"""The arguments a launch file declares itself, loaded with the same package stubs.
Not get_launch_arguments(): it also returns those of every file it includes, and
their switches are the business of those files.
"""
with _session(None):
description = get_launch_description_from_python_launch_file(launch_file)
return [e for e in description.entities if isinstance(e, DeclareLaunchArgument)]
def dry_run(launch_file: str, launch_arguments: Dict[str, str],
known_parameters: Optional[Set[str]] = None) -> DryRunResult:
"""Run launch_file with launch_arguments; see the module docstring."""
with _session(known_parameters) as session:
errors = _ErrorCollector()
# Launch loggers do not propagate: listen on each one that reports something.
loggers = [logging.getLogger('launch'), logging.getLogger('launch_ros.actions.node')]
for logger in loggers:
logger.addHandler(errors)
try:
service = LaunchService(noninteractive=True)
service.include_launch_description(IncludeLaunchDescription(
PythonLaunchDescriptionSource(launch_file),
launch_arguments=list(launch_arguments.items())))
return_code = service.run()
finally:
for logger in loggers:
logger.removeHandler(errors)
for message in errors.messages:
session.problem(message)
if return_code != 0 and not errors.messages:
session.problem(f'launch returned {return_code}')
return session.result
@functools.lru_cache(maxsize=None)
def known_rtabmap_parameters() -> frozenset:
"""All RTAB-Map parameters of the installed library.
The SLAM node leaves the odometry ones out of its --params listing, and the
odometry node the SLAM ones, so it takes both.
"""
names = set()
for package, executable in (('rtabmap_slam', 'rtabmap'), ('rtabmap_odom', 'rgbd_odometry')):
path = Path(get_package_prefix(package)) / 'lib' / package / executable
output = subprocess.run([str(path), '--params'], capture_output=True, text=True,
timeout=60, check=True).stdout
for line in output.splitlines():
if line.startswith('Param: '):
names.add(line[len('Param: '):].split(' = ', 1)[0].strip())
if len(names) < 300:
raise RuntimeError(f'could not read the parameter list ({len(names)} found)')
return frozenset(names)
def variants(launch_file: str):
"""The default arguments, then each boolean flipped and each other choice, one at a time."""
yield {}
context = LaunchContext()
for argument in declared_arguments(launch_file):
if argument.choices:
default = None
if argument.default_value is not None:
default = perform_substitutions(context, argument.default_value)
for choice in argument.choices:
if choice != default:
yield {argument.name: choice}
continue
if argument.default_value is None:
continue
try:
default = perform_substitutions(context, argument.default_value)
except Exception:
continue # default made of other arguments; not a switch
if default.lower() in ('true', 'false'):
yield {argument.name: 'false' if default.lower() == 'true' else 'true'}
def launch_files(source_dir: Path) -> List[str]:
"""The launch files under a package's launch directory, relative to it."""
return sorted(str(p.relative_to(source_dir)) for p in source_dir.rglob('*.launch.py'))
def check_launch_file(package: str, launch_file: str) -> Tuple[List[str], Set[str]]:
"""Dry-run the installed share/<package>/launch/<launch_file> with each variant.
Returns the failures, one per variant that has problems, and the packages that had
to be stubbed.
"""
installed = Path(get_package_share_directory(package)) / 'launch' / launch_file
if not installed.is_file():
return [f'{launch_file} is not installed'], set()
failures = []
stubbed = set()
for arguments in variants(str(installed)):
result = dry_run(str(installed), arguments, known_rtabmap_parameters())
stubbed |= result.stubbed_packages
problems = list(result.problems)
# Every launch file here is there to run some part of RTAB-Map. A condition or
# an include gone wrong can drop it without any error.
if not arguments and not any(_is_rtabmap_package(s.package) for s in result.started):
problems.append('starts nothing from an rtabmap package')
if problems:
shown = ' '.join(f'{k}:={v}' for k, v in arguments.items()) or '(defaults)'
failures.append(f'{shown}\n ' + '\n '.join(problems))
return failures, stubbed
rtabmap_launch/test/test_launch_files.py
+63
View File
@@ -0,0 +1,63 @@
"""
Dry-run every launch file of a package, with its default arguments and with each of its
switches flipped, and check what it would start. See launch_dry_run.py, next to this file.
Installed with rtabmap_launch, and run by each package whose launch files it checks,
which names itself in RTABMAP_LAUNCH_TEST_PACKAGE (see their CMakeLists.txt): the
installed launch files of that package are the ones checked.
A launch file is only checked as far as this machine can resolve it: the drivers or
simulators that are not installed are stubbed, and the test says which.
"""
import os
import warnings
from pathlib import Path
import pytest
from ament_index_python.packages import get_package_share_directory
from launch_dry_run import check_launch_file, declared_arguments, dry_run, launch_files
PACKAGE = os.environ.get('RTABMAP_LAUNCH_TEST_PACKAGE', 'rtabmap_launch')
LAUNCH_DIR = Path(get_package_share_directory(PACKAGE)) / 'launch'
LAUNCH_FILES = launch_files(LAUNCH_DIR)
@pytest.mark.parametrize('launch_file', LAUNCH_FILES)
def test_launch_file(launch_file):
failures, stubbed = check_launch_file(PACKAGE, launch_file)
if stubbed:
warnings.warn(f'{launch_file}: not installed, stubbed: {", ".join(sorted(stubbed))}')
assert not failures, f'{launch_file}:\n ' + '\n '.join(failures)
def _with_ground_truth_arguments(launch_file: str) -> bool:
names = {a.name for a in declared_arguments(str(LAUNCH_DIR / launch_file))}
return {'frame_id', 'ground_truth_frame_id', 'ground_truth_base_frame_id'} <= names
GROUND_TRUTH_LAUNCH_FILES = [f for f in LAUNCH_FILES if _with_ground_truth_arguments(f)]
# Where a launch file declares frame_id and the ground truth's frames, the robot frame of
# the ground truth defaults to frame_id + "_gt", as in the nodes; set empty, it reaches the
# nodes empty, which turns the ground truth off. Defined only where there is one: an empty
# parametrization would be reported as skipped.
if GROUND_TRUTH_LAUNCH_FILES:
@pytest.mark.parametrize('launch_file', GROUND_TRUTH_LAUNCH_FILES)
@pytest.mark.parametrize('arguments, expected', [
({}, 'base_footprint_gt'),
({'ground_truth_base_frame_id': 'tracker'}, 'tracker'),
({'ground_truth_base_frame_id': ''}, ''),
], ids=['default', 'set', 'empty'])
def test_ground_truth_base_frame_id(launch_file, arguments, expected):
arguments = dict(arguments, frame_id='base_footprint', ground_truth_frame_id='world')
result = dry_run(str(LAUNCH_DIR / launch_file), arguments)
assert not result.problems, '\n'.join(result.problems)
given = {s.describe(): s.parameters.get('ground_truth_base_frame_id')
for s in result.started if 'ground_truth_frame_id' in s.parameters}
assert given, f'{launch_file} starts no node with a ground truth'
for node, value in given.items():
assert value == expected, \
f'{node}: ground_truth_base_frame_id={value!r}, expected {expected!r}'
rtabmap_odom/README.md
+1 -1
View File
@@ -78,7 +78,7 @@ These apply to all three nodes.
| `wait_for_transform` | `double` | `0.1` | Seconds to wait for a needed transform before giving up on the frame. |
| `initial_pose` | `string` | `""` | Starting pose, `"x y z roll pitch yaw"`. Also settable at runtime through `reset_odom_to_pose`. |
| `ground_truth_frame_id` | `string` | `""` | When set, the pose is taken from this TF instead of being computed — for replaying a dataset with a known trajectory. |
| `ground_truth_base_frame_id` | `string` | value of `frame_id` | The robot frame within the ground truth TF tree. |
| `ground_truth_base_frame_id` | `string` | value of `frame_id` + `"_gt"` | The robot frame within the ground truth TF tree. Empty: the ground truth is not used. |
| `guess_frame_id` | `string` | `""` | A frame carrying another odometry source, used as the initial guess for each registration. Documented with its companions under [Feeding in an external guess](#feeding-in-an-external-guess) -- **the highest-value parameter here for a wheeled robot**. |
The sensor must be connected to `frame_id` in TF **before the first frame arrives**, or that frame is dropped with a warning. A static publisher is the usual answer.
rtabmap_odom/src/OdometryROS.cpp
+2 -2
View File
@@ -177,7 +177,7 @@ OdometryROS::OdometryROS(const std::string & name, const rclcpp::NodeOptions & o
waitForTransform_ = this->declare_parameter("wait_for_transform", waitForTransform_);
initialPoseStr = this->declare_parameter("initial_pose", initialPoseStr); // "x y z roll pitch yaw"
groundTruthFrameId_ = this->declare_parameter("ground_truth_frame_id", groundTruthFrameId_);
groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_);
groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_+"_gt");
configPath_ = this->declare_parameter("config_path", configPath_);
publishNullWhenLost_ = this->declare_parameter("publish_null_when_lost", publishNullWhenLost_);
@@ -746,7 +746,7 @@ void OdometryROS::processData()
return;
}
if(!groundTruthFrameId_.empty())
if(!groundTruthFrameId_.empty() && !groundTruthBaseFrameId_.empty())
{
groundTruth = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, header.stamp, *tfBuffer_, waitForTransform_);
rtabmap_odom/test/node_test_utils.hpp
+34 -2
View File
@@ -32,6 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rclcpp/rclcpp.hpp>
#include <execinfo.h>
#include <unistd.h>
#include <csignal>
#include <chrono>
#include <functional>
#include <memory>
@@ -66,11 +71,38 @@ public:
}
};
/**
* @brief Prints the stack of a test binary that crashes, then crashes as it would have.
*
* A crash in CI shows only the return code otherwise (-11 for SIGSEGV), there being no
* debugger or core dump there. Library frames come with their function names; this
* binary's with an offset, for `addr2line -C -f -e <binary> <offset>`.
*/
inline void printStackOnCrash(int signal)
{
void * frames[64];
const int count = ::backtrace(frames, 64);
const char header[] = "\n*** Crashed, stack trace:\n";
if(::write(STDERR_FILENO, header, sizeof(header) - 1) < 0) {}
::backtrace_symbols_fd(frames, count, STDERR_FILENO);
std::signal(signal, SIG_DFL);
std::raise(signal);
}
/// Registers RclcppEnvironment. Call once at file scope in each test binary.
inline ::testing::Environment * registerRclcppEnvironment()
{
static ::testing::Environment * const env =
::testing::AddGlobalTestEnvironment(new RclcppEnvironment);
static ::testing::Environment * const env = []() {
// backtrace() loads libgcc on its first call, which is not safe in a signal
// handler: done here.
void * frame;
::backtrace(&frame, 1);
for(int signal : {SIGSEGV, SIGBUS, SIGFPE, SIGILL, SIGABRT})
{
std::signal(signal, printStackOnCrash);
}
return ::testing::AddGlobalTestEnvironment(new RclcppEnvironment);
}();
return env;
}
rtabmap_odom/test/test_odometry_ros.cpp
+57
View File
@@ -454,6 +454,63 @@ TEST_F(OdometryRosTest, starts_from_the_configured_initial_pose)
EXPECT_NEAR(3.0, odom->back().pose.pose.position.z, 1e-3);
}
/**
* With a ground truth frame, the odometry starts from the ground truth's first pose:
* ground_truth_frame_id -> ground_truth_base_frame_id, which defaults to frame_id + "_gt".
* Empty, ground_truth_base_frame_id turns the ground truth off.
*/
class OdometryRosGroundTruthTest : public OdometryRosTest
{
protected:
/// Latches world -> base_link_gt at (1, 2, 3), the only ground truth in TF.
void publishGroundTruth()
{
geometry_msgs::msg::TransformStamped gt;
gt.header.stamp = helper()->now();
gt.header.frame_id = "world";
gt.child_frame_id = "base_link_gt";
gt.transform.translation.x = 1.0;
gt.transform.translation.y = 2.0;
gt.transform.translation.z = 3.0;
gt.transform.rotation.w = 1.0;
gtTf_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*helper());
gtTf_->sendTransform(gt);
}
/// The pose of the first frame, with the ground truth and @p params.
geometry_msgs::msg::Point firstPose(const std::vector<rclcpp::Parameter> & params)
{
publishSensorTf();
publishGroundTruth();
std::shared_ptr<Collector<nav_msgs::msg::Odometry>> odom =
collect<nav_msgs::msg::Odometry>("odom");
makeNode(params);
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub = scanPublisher();
EXPECT_TRUE(waitForSubscriber(pub));
feedFrames(pub, odom, 1);
return odom->empty() ? geometry_msgs::msg::Point() : odom->back().pose.pose.position;
}
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> gtTf_;
};
TEST_F(OdometryRosGroundTruthTest, starts_from_the_ground_truth_of_frame_id_gt_by_default)
{
geometry_msgs::msg::Point p = firstPose({rclcpp::Parameter("ground_truth_frame_id", "world")});
EXPECT_NEAR(1.0, p.x, 1e-3);
EXPECT_NEAR(2.0, p.y, 1e-3);
EXPECT_NEAR(3.0, p.z, 1e-3);
}
TEST_F(OdometryRosGroundTruthTest, ignores_the_ground_truth_when_its_base_frame_is_empty)
{
geometry_msgs::msg::Point p = firstPose({rclcpp::Parameter("ground_truth_frame_id", "world"),
rclcpp::Parameter("ground_truth_base_frame_id", "")});
EXPECT_NEAR(0.0, p.x, 1e-3);
EXPECT_NEAR(0.0, p.y, 1e-3);
EXPECT_NEAR(0.0, p.z, 1e-3);
}
/// reset_odom puts the pose back to the identity and starts the map again.
TEST_F(OdometryRosTest, reset_odom_returns_the_pose_to_the_origin)
{
rtabmap_rviz_plugins/CMakeLists.txt
+24
View File
@@ -30,6 +30,15 @@ find_package(tf2 REQUIRED)
find_package(rtabmap_conversions REQUIRED)
find_package(rtabmap_msgs REQUIRED)
# Optional: wall clipping of the OrbitOriented view controller
find_package(octomap QUIET)
find_package(octomap_msgs QUIET)
IF(octomap_FOUND AND octomap_msgs_FOUND)
MESSAGE(STATUS "WITH octomap (OrbitOriented's wall clipping)")
ELSE()
MESSAGE(STATUS "WITHOUT octomap (OrbitOriented's wall clipping disabled)")
ENDIF()
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include
)
@@ -78,9 +87,11 @@ add_library(rtabmap_rviz_plugins SHARED
src/MapCloudDisplay.cpp
src/MapGraphDisplay.cpp
src/InfoDisplay.cpp
src/OrbitOrientedViewController.cpp
include/${PROJECT_NAME}/MapCloudDisplay.h
include/${PROJECT_NAME}/MapGraphDisplay.h
include/${PROJECT_NAME}/InfoDisplay.h
include/${PROJECT_NAME}/OrbitOrientedViewController.h
)
set_property(TARGET rtabmap_rviz_plugins PROPERTY AUTOMOC ON)
target_include_directories(rtabmap_rviz_plugins
@@ -94,6 +105,19 @@ ELSE()
target_link_libraries(rtabmap_rviz_plugins PRIVATE ${Libraries})
ENDIF()
IF(octomap_FOUND AND octomap_msgs_FOUND)
target_compile_definitions(rtabmap_rviz_plugins PRIVATE RTABMAP_RVIZ_PLUGINS_OCTOMAP)
target_include_directories(rtabmap_rviz_plugins PRIVATE ${OCTOMAP_INCLUDE_DIRS})
# octomap's config only sets variables. The same signature as above, as CMake
# requires for a target.
if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
ament_target_dependencies(rtabmap_rviz_plugins octomap_msgs)
target_link_libraries(rtabmap_rviz_plugins ${OCTOMAP_LIBRARIES})
ELSE()
target_link_libraries(rtabmap_rviz_plugins PRIVATE octomap_msgs::octomap_msgs ${OCTOMAP_LIBRARIES})
ENDIF()
ENDIF()
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(rtabmap_rviz_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY")
rtabmap_rviz_plugins/include/rtabmap_rviz_plugins/OrbitOrientedViewController.h
+113
View File
@@ -0,0 +1,113 @@
/*
Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ORBIT_ORIENTED_VIEW_CONTROLLER_H
#define ORBIT_ORIENTED_VIEW_CONTROLLER_H
#include <memory>
#include <mutex>
#include <thread>
#include <rtabmap_rviz_plugins/visibility.h>
#include <rviz_default_plugins/view_controllers/orbit/orbit_view_controller.hpp>
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
#include <octomap_msgs/msg/octomap.hpp>
#include <rclcpp/subscription.hpp>
namespace octomap
{
class AbstractOcTree;
}
#endif
namespace rviz_common
{
namespace properties
{
class BoolProperty;
class FloatProperty;
class IntProperty;
class RosTopicProperty;
}
}
namespace rtabmap_rviz_plugins
{
/**
* An orbit view controller whose camera turns with the target frame's yaw: the view
* stays behind the robot as it turns. With "Wall clipping" (needs octomap), the camera
* is moved in front of any obstacle of an octomap that would hide the target.
*/
class RTABMAP_RVIZ_PLUGINS_PUBLIC OrbitOrientedViewController :
public rviz_default_plugins::view_controllers::OrbitViewController
{
Q_OBJECT
public:
OrbitOrientedViewController();
virtual ~OrbitOrientedViewController();
void onInitialize() override;
protected:
void updateCamera() override;
private Q_SLOTS:
void updateWallClipping();
private:
float targetYaw() const;
rviz_common::properties::FloatProperty * fov_property_;
rviz_common::properties::BoolProperty * wall_clipping_property_;
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
Ogre::Vector3 clipToWalls(const Ogre::Vector3 & focal_point, const Ogre::Vector3 & position);
void octomapCallback(const octomap_msgs::msg::Octomap::ConstSharedPtr msg);
void decodeOctomaps();
rviz_common::properties::RosTopicProperty * octomap_topic_property_;
rviz_common::properties::FloatProperty * ignore_distance_property_;
rviz_common::properties::IntProperty * octree_depth_property_;
rviz_common::properties::FloatProperty * wall_margin_property_;
rclcpp::Subscription<octomap_msgs::msg::Octomap>::SharedPtr octomap_sub_;
// Decoding a large octomap takes too long for rviz's thread, which runs the
// subscription: it is done by a thread of its own, which keeps only the latest map.
std::mutex octomap_mutex_;
octomap_msgs::msg::Octomap::ConstSharedPtr pending_octomap_;
std::shared_ptr<octomap::AbstractOcTree> octree_;
std::thread decoding_thread_;
bool decoding_;
bool warned_no_octomap_;
#endif
};
} // namespace rtabmap_rviz_plugins
#endif // ORBIT_ORIENTED_VIEW_CONTROLLER_H
rtabmap_rviz_plugins/package.xml
+2
View File
@@ -26,6 +26,8 @@
<depend>tf2</depend>
<depend>rtabmap_conversions</depend>
<depend>rtabmap_msgs</depend>
<depend>liboctomap-dev</depend> <!-- optional: OrbitOriented's wall clipping -->
<depend>octomap_msgs</depend> <!-- optional: OrbitOriented's wall clipping -->
<export>
<build_type>ament_cmake</build_type>
rtabmap_rviz_plugins/rviz_plugins.xml
+7
View File
@@ -23,4 +23,11 @@
</description>
<message_type>rtabmap_rviz_plugins/msg/Info</message_type>
</class>
<class name="rtabmap_rviz_plugins/OrbitOriented"
type="rtabmap_rviz_plugins::OrbitOrientedViewController"
base_class_type="rviz_common::ViewController">
<description>
Orbit camera turning with the target frame's yaw, so the view stays behind the robot. Optionally (built with octomap), the camera is moved in front of the octomap obstacles that would hide the target.
</description>
</class>
</library>
rtabmap_rviz_plugins/src/MapCloudDisplay.cpp
+1
View File
@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <OgreSceneManager.h>
#include "rclcpp/clock.hpp"
#include "rclcpp/node.hpp"
#include "rviz_common/display.hpp"
#include "rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.hpp"
rtabmap_rviz_plugins/src/OrbitOrientedViewController.cpp
+384
View File
@@ -0,0 +1,384 @@
/*
Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap_rviz_plugins/OrbitOrientedViewController.h"
#include <algorithm>
#include <cmath>
#include <stdexcept>
#include <OgreCamera.h>
#include <OgreQuaternion.h>
#include <OgreSceneNode.h>
#include <OgreVector3.h>
#include <rviz_common/display_context.hpp>
#include <rviz_common/logging.hpp>
#include <rviz_common/properties/bool_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/int_property.hpp>
#include <rviz_common/properties/ros_topic_property.hpp>
#include <rviz_common/properties/vector_property.hpp>
#include <rviz_common/ros_integration/ros_node_abstraction_iface.hpp>
#include <rviz_rendering/objects/shape.hpp>
#include <rclcpp/node.hpp>
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
#include <octomap/ColorOcTree.h>
#include <octomap/OcTree.h>
#include <octomap_msgs/conversions.h>
#endif
namespace rtabmap_rviz_plugins
{
namespace
{
// Ogre's default, 45 degrees.
const float kDefaultFov = Ogre::Math::HALF_PI / 2.0f;
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
/// How far along a ray from origin to end the first occupied voxel of the tree starts,
/// if the ray crosses one. Voxels are taken at the given depth of the tree, as an
/// octomap display showing that depth draws them: a coarser voxel is occupied if any of
/// its leaves is, and the ray may cross it without crossing that leaf.
template<class TREE>
bool firstHit(const TREE & tree, unsigned int depth, const octomath::Vector3 & origin,
const octomath::Vector3 & end, float & distance)
{
octomap::KeyRay keys;
if(!tree.computeRayKeys(origin, end, keys))
{
return false; // out of the tree's bounds
}
if(depth == 0 || depth > tree.getTreeDepth())
{
depth = tree.getTreeDepth();
}
const double halfSize = tree.getNodeSize(depth) / 2.0;
const octomath::Vector3 direction = (end - origin).normalized();
bool first = true;
octomap::OcTreeKey previous;
for(octomap::KeyRay::const_iterator iter = keys.begin(); iter != keys.end(); ++iter)
{
const octomap::OcTreeKey key = tree.adjustKeyAtDepth(*iter, depth);
if(!first && key == previous)
{
continue; // still in the same coarse voxel
}
first = false;
previous = key;
const typename TREE::NodeType * node = tree.search(key, depth);
if(node == 0 || !tree.isNodeOccupied(node))
{
continue; // free or unknown
}
// Where the ray enters that voxel's cube.
const octomath::Vector3 center = tree.keyToCoord(key, depth);
double entry = 0.0;
for(int i = 0; i < 3; ++i)
{
if(std::fabs(direction(i)) > 1e-9)
{
const double t1 = (center(i) - halfSize - origin(i)) / direction(i);
const double t2 = (center(i) + halfSize - origin(i)) / direction(i);
entry = std::max(entry, std::min(t1, t2));
}
}
distance = static_cast<float>(entry);
return true;
}
return false;
}
#endif
} // namespace
OrbitOrientedViewController::OrbitOrientedViewController()
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
: decoding_(false),
warned_no_octomap_(false)
#endif
{
fov_property_ = new rviz_common::properties::FloatProperty(
"Field of View", kDefaultFov, "Vertical field of view of the camera (rad).", this);
fov_property_->setMin(0.001f);
fov_property_->setMax(Ogre::Math::PI - 0.001f);
wall_clipping_property_ = new rviz_common::properties::BoolProperty(
"Wall clipping", false,
"Move the camera in front of the octomap obstacles that would hide the target.",
this, SLOT(updateWallClipping()), this);
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
octomap_topic_property_ = new rviz_common::properties::RosTopicProperty(
"Octomap Topic", "/octomap_binary", "octomap_msgs/msg/Octomap",
"Octomap in which obstacles are looked for, e.g., rtabmap's octomap_binary (occupancy only, smaller) or octomap_full.",
wall_clipping_property_, SLOT(updateWallClipping()), this);
ignore_distance_property_ = new rviz_common::properties::FloatProperty(
"Ignore Distance", 1.0f,
"Obstacles closer than this to the focal point (m) are ignored, so that the "
"target's own voxels do not count.",
wall_clipping_property_);
ignore_distance_property_->setMin(0.0f);
octree_depth_property_ = new rviz_common::properties::IntProperty(
"Octree Depth", 16,
"Depth of the octomap at which obstacles are looked for: set it as the octomap "
"display's \"Max. Octree Depth\", so that the camera stops in front of the cubes "
"shown. 16 is the full resolution.",
wall_clipping_property_);
octree_depth_property_->setMin(1);
octree_depth_property_->setMax(16);
wall_margin_property_ = new rviz_common::properties::FloatProperty(
"Wall Margin", 0.05f,
"How far in front of an obstacle the camera is put (m).",
wall_clipping_property_);
wall_margin_property_->setMin(0.0f);
#else
wall_clipping_property_->setReadOnly(true);
wall_clipping_property_->setDescription(
"Not available: rtabmap_rviz_plugins was built without octomap.");
#endif
}
OrbitOrientedViewController::~OrbitOrientedViewController()
{
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
{
std::lock_guard<std::mutex> lock(octomap_mutex_);
pending_octomap_.reset();
}
if(decoding_thread_.joinable())
{
decoding_thread_.join();
}
#endif
}
void OrbitOrientedViewController::onInitialize()
{
OrbitViewController::onInitialize();
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
octomap_topic_property_->initialize(context_->getRosNodeAbstraction());
#endif
updateWallClipping();
}
void OrbitOrientedViewController::updateWallClipping()
{
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
const bool enabled = wall_clipping_property_->getBool();
octomap_topic_property_->setHidden(!enabled);
ignore_distance_property_->setHidden(!enabled);
octree_depth_property_->setHidden(!enabled);
wall_margin_property_->setHidden(!enabled);
octomap_sub_.reset();
{
std::lock_guard<std::mutex> lock(octomap_mutex_);
pending_octomap_.reset();
octree_.reset();
}
warned_no_octomap_ = false;
if(!enabled || !context_)
{
return;
}
const std::string topic = octomap_topic_property_->getTopicStd();
if(topic.empty())
{
return;
}
auto node = context_->getRosNodeAbstraction().lock();
if(!node)
{
return;
}
try
{
octomap_sub_ = node->get_raw_node()->create_subscription<octomap_msgs::msg::Octomap>(
topic, rclcpp::QoS(1).reliable(),
std::bind(&OrbitOrientedViewController::octomapCallback, this, std::placeholders::_1));
}
catch(const rclcpp::exceptions::InvalidTopicNameError & e)
{
RVIZ_COMMON_LOG_WARNING_STREAM("OrbitOriented: invalid octomap topic \"" << topic << "\": " << e.what());
}
#endif
}
float OrbitOrientedViewController::targetYaw() const
{
// Yaw only: the view turns with the target, but stays level when the target tilts.
const Ogre::Quaternion & q = reference_orientation_;
return std::atan2(2.0f * (q.w * q.z + q.x * q.y), 1.0f - 2.0f * (q.y * q.y + q.z * q.z));
}
void OrbitOrientedViewController::updateCamera()
{
const float distance = distance_property_->getFloat();
const float yaw = yaw_property_->getFloat() + targetYaw();
const float pitch = pitch_property_->getFloat();
const Ogre::Vector3 focal_point = focal_point_property_->getVector();
// As OrbitViewController, in the target's node (the target frame's position,
// with the fixed frame's orientation).
Ogre::Vector3 position(
distance * std::cos(yaw) * std::cos(pitch) + focal_point.x,
distance * std::sin(yaw) * std::cos(pitch) + focal_point.y,
distance * std::sin(pitch) + focal_point.z);
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
if(wall_clipping_property_->getBool())
{
position = clipToWalls(focal_point, position);
}
#endif
Ogre::SceneNode * camera_parent = camera_->getParentSceneNode();
if(!camera_parent)
{
throw std::runtime_error("camera's parent scene node pointer unexpectedly nullptr");
}
camera_parent->setPosition(position);
camera_parent->setFixedYawAxis(true, target_scene_node_->getOrientation() * Ogre::Vector3::UNIT_Z);
camera_parent->setDirection(focal_point - position, Ogre::SceneNode::TS_PARENT);
camera_->setFOVy(Ogre::Radian(fov_property_->getFloat()));
focal_shape_->setPosition(focal_point);
}
#ifdef RTABMAP_RVIZ_PLUGINS_OCTOMAP
Ogre::Vector3 OrbitOrientedViewController::clipToWalls(
const Ogre::Vector3 & focal_point, const Ogre::Vector3 & position)
{
std::shared_ptr<octomap::AbstractOcTree> tree;
{
std::lock_guard<std::mutex> lock(octomap_mutex_);
tree = octree_;
}
if(!tree)
{
if(!warned_no_octomap_)
{
RVIZ_COMMON_LOG_WARNING_STREAM("OrbitOriented: no octomap received yet on "
<< octomap_topic_property_->getTopicStd() << ", wall clipping is not done.");
warned_no_octomap_ = true;
}
return position;
}
// The ray goes from the focal point to the camera, in the fixed frame.
const Ogre::Vector3 target = target_scene_node_->getPosition();
const Ogre::Vector3 from = target + focal_point;
const Ogre::Vector3 to = target + position;
const float length = from.distance(to);
const float ignored = ignore_distance_property_->getFloat();
if(length <= ignored)
{
return position;
}
const Ogre::Vector3 start = from + (to - from) * (ignored / length);
const octomath::Vector3 origin(start.x, start.y, start.z);
const octomath::Vector3 end(to.x, to.y, to.z);
float hitDistance = 0.0f;
bool hasHit = false;
if(const octomap::ColorOcTree * colorTree = dynamic_cast<const octomap::ColorOcTree *>(tree.get()))
{
hasHit = firstHit(*colorTree, octree_depth_property_->getInt(), origin, end, hitDistance);
}
else if(const octomap::OcTree * ocTree = dynamic_cast<const octomap::OcTree *>(tree.get()))
{
hasHit = firstHit(*ocTree, octree_depth_property_->getInt(), origin, end, hitDistance);
}
if(!hasHit)
{
return position;
}
// Short of the obstacle by the margin, but not closer to the focal point than the
// camera can see.
const float distance = std::max(
ignored + hitDistance - wall_margin_property_->getFloat(),
static_cast<float>(camera_->getNearClipDistance()));
if(distance >= length)
{
return position;
}
return focal_point + (position - focal_point) * (distance / length);
}
void OrbitOrientedViewController::octomapCallback(const octomap_msgs::msg::Octomap::ConstSharedPtr msg)
{
{
std::lock_guard<std::mutex> lock(octomap_mutex_);
pending_octomap_ = msg;
if(decoding_)
{
return; // the decoding thread takes it when done with the current one
}
decoding_ = true;
}
if(decoding_thread_.joinable())
{
decoding_thread_.join(); // finished: decoding_ was false
}
decoding_thread_ = std::thread(&OrbitOrientedViewController::decodeOctomaps, this);
}
void OrbitOrientedViewController::decodeOctomaps()
{
while(true)
{
octomap_msgs::msg::Octomap::ConstSharedPtr msg;
{
std::lock_guard<std::mutex> lock(octomap_mutex_);
msg.swap(pending_octomap_);
if(!msg)
{
decoding_ = false;
return;
}
}
std::shared_ptr<octomap::AbstractOcTree> tree(octomap_msgs::msgToMap(*msg));
if(!tree)
{
RVIZ_COMMON_LOG_WARNING_STREAM("OrbitOriented: could not decode the octomap (tree type \""
<< msg->id << "\").");
continue;
}
std::lock_guard<std::mutex> lock(octomap_mutex_);
octree_ = tree;
}
}
#endif
} // namespace rtabmap_rviz_plugins
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(rtabmap_rviz_plugins::OrbitOrientedViewController, rviz_common::ViewController)
rtabmap_slam/CMakeLists.txt
+6
View File
@@ -277,6 +277,12 @@ if(BUILD_TESTING)
rtabmap_slam_add_node_test(test_core_wrapper_services)
rtabmap_slam_add_node_test(test_core_wrapper_planning)
rtabmap_slam_add_node_test(test_core_wrapper_inputs)
# The `rtabmap` executable under `ros2 launch`, stopped as Ctrl-C does.
find_package(ament_cmake_pytest REQUIRED)
ament_add_pytest_test(test_shutdown test/test_shutdown.py
ENV ROS_DOMAIN_ID=${rtabmap_slam_test_domain_id} "PYTEST_ADDOPTS=-p no:cacheprovider"
TIMEOUT 300)
endif()
ament_package()
rtabmap_slam/doc/rtabmap.md
+1 -1
View File
@@ -485,7 +485,7 @@ The ones that set how often a node is added, explained in [Update rate and dropp
| `tf_tolerance` | `double` | `0.1` | How far in the future the transform is stamped, in seconds, so that lookups at the latest sensor stamp do not have to wait for it. |
| `wait_for_transform` | `double` | `0.2` | Seconds to wait for a TF lookup before giving up on it. |
| `ground_truth_frame_id` | `string` | `""` | The fixed frame of a ground truth system, for example `world` published by an external localization system like Vicon or OptiTrack. `ground_truth_frame_id` → `ground_truth_base_frame_id` is looked up and stored with each node, for evaluating a trajectory afterwards. |
| `ground_truth_base_frame_id` | `string` | value of `frame_id` | The robot frame in the ground truth tree, for example `base_link_gt`. To avoid breaking the TF tree, it represents the same frame as `frame_id`, but in a parallel TF tree, so that the robot frame does not get two parents. |
| `ground_truth_base_frame_id` | `string` | value of `frame_id` + `"_gt"` | The robot frame in the ground truth tree, for example `base_link_gt`. Empty: the ground truth is not used. To avoid breaking the TF tree, it represents the same frame as `frame_id`, but in a parallel TF tree, so that the robot frame does not get two parents. |
**This node publishes exactly one transform: `map` → `odom`.** It is the correction that puts the odometry frame where the optimized graph says it belongs — the identity until a loop closure moves it. Odometry keeps publishing `odom` → `base_link`, and the sensors must be attached to `base_link` in TF, as in the [TF tree](../README.md#frames-and-tf).
rtabmap_slam/package.xml
+7
View File
@@ -37,6 +37,13 @@
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>rtabmap_conversions</test_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_ros</test_depend>
<test_depend>python3-pytest</test_depend>
<test_depend>rclpy</test_depend>
<test_depend>ros2launch</test_depend>
<test_depend>tf2_msgs</test_depend>
<export>
<build_type>ament_cmake</build_type>
rtabmap_slam/src/CoreNode.cpp
+5
View File
@@ -99,6 +99,11 @@ int main(int argc, char** argv)
executor.add_node(node);
UINFO("rtabmap %s started...", RTABMAP_VERSION);
executor.spin();
// Close the database before rclcpp::shutdown(), which uninstalls the signal
// handlers: a second SIGINT (e.g., Ctrl-C then ros2 launch's own) would otherwise
// kill the node while it is still saving.
executor.remove_node(node);
node.reset();
rclcpp::shutdown();
return 0;
}
rtabmap_slam/src/CoreWrapper.cpp
+3 -3
View File
@@ -176,7 +176,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
odomFrameIdInit = this->declare_parameter("odom_frame_id_init", odomFrameIdInit); // set to publish map->odom TF before receiving odom topic
mapFrameId_ = this->declare_parameter("map_frame_id", mapFrameId_);
groundTruthFrameId_ = this->declare_parameter("ground_truth_frame_id", groundTruthFrameId_);
groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_);
groundTruthBaseFrameId_ = this->declare_parameter("ground_truth_base_frame_id", frameId_+"_gt");
if(!odomFrameIdInit.empty())
{
@@ -2131,7 +2131,7 @@ void CoreWrapper::process(
SensorData interData(cv::Mat(), cv::Mat(), rtabmap::CameraModel(), -1, rtabmap_conversions::timestampFromROS(iter->first.header.stamp));
Transform gt;
if(!groundTruthFrameId_.empty())
if(!groundTruthFrameId_.empty() && !groundTruthBaseFrameId_.empty())
{
gt = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, iter->first.header.stamp, *tfBuffer_, waitForTransform_);
}
@@ -2185,7 +2185,7 @@ void CoreWrapper::process(
//Add async stuff
Transform groundTruthPose;
if(!groundTruthFrameId_.empty())
if(!groundTruthFrameId_.empty() && !groundTruthBaseFrameId_.empty())
{
groundTruthPose = rtabmap_conversions::getTransform(groundTruthFrameId_, groundTruthBaseFrameId_, stamp, *tfBuffer_, waitForTransform_);
}
rtabmap_slam/test/node_test_utils.hpp
+34 -2
View File
@@ -32,6 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rclcpp/rclcpp.hpp>
#include <execinfo.h>
#include <unistd.h>
#include <csignal>
#include <chrono>
#include <functional>
#include <memory>
@@ -66,11 +71,38 @@ public:
}
};
/**
* @brief Prints the stack of a test binary that crashes, then crashes as it would have.
*
* A crash in CI shows only the return code otherwise (-11 for SIGSEGV), there being no
* debugger or core dump there. Library frames come with their function names; this
* binary's with an offset, for `addr2line -C -f -e <binary> <offset>`.
*/
inline void printStackOnCrash(int signal)
{
void * frames[64];
const int count = ::backtrace(frames, 64);
const char header[] = "\n*** Crashed, stack trace:\n";
if(::write(STDERR_FILENO, header, sizeof(header) - 1) < 0) {}
::backtrace_symbols_fd(frames, count, STDERR_FILENO);
std::signal(signal, SIG_DFL);
std::raise(signal);
}
/// Registers RclcppEnvironment. Call once at file scope in each test binary.
inline ::testing::Environment * registerRclcppEnvironment()
{
static ::testing::Environment * const env =
::testing::AddGlobalTestEnvironment(new RclcppEnvironment);
static ::testing::Environment * const env = []() {
// backtrace() loads libgcc on its first call, which is not safe in a signal
// handler: done here.
void * frame;
::backtrace(&frame, 1);
for(int signal : {SIGSEGV, SIGBUS, SIGFPE, SIGILL, SIGABRT})
{
std::signal(signal, printStackOnCrash);
}
return ::testing::AddGlobalTestEnvironment(new RclcppEnvironment);
}();
return env;
}
rtabmap_slam/test/rtabmap_odom_only.launch.py
+22
View File
@@ -0,0 +1,22 @@
# rtabmap alone, mapping from odometry only, for test_shutdown.py.
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
DeclareLaunchArgument('database_path'),
DeclareLaunchArgument('working_directory'),
Node(
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[{
'database_path': LaunchConfiguration('database_path'),
'Rtabmap/WorkingDirectory': LaunchConfiguration('working_directory'),
'subscribe_depth': False,
'subscribe_rgb': False,
'Rtabmap/DetectionRate': '0'}],
arguments=['-d']),
])
rtabmap_slam/test/test_core_wrapper_inputs.cpp
+51 -11
View File
@@ -68,6 +68,45 @@ protected:
return nullptr;
}
/**
* @brief Calls @p send until the node processes the update stamped @p stamp: an info
* at that stamp.
*
* For a node on its own multi-threaded executor (makeMultiThreadedNode()): it
* publishes info from inside its update, and takes new data only once that update
* has returned, dropping what arrives in between. Woken by info, the test can send
* the next update in that window, on a slow machine; it is then sent again. A copy
* sent while the first is still being processed is dropped the same way; one that
* was processed anyway only adds an info at a stamp already seen. A node that never
* takes new data again still fails.
*/
bool sendUntilProcessed(
const std::function<void()> & send,
const std::shared_ptr<Collector<rtabmap_msgs::msg::Info>> & info,
double stamp)
{
const rclcpp::Time expected(stampOf(stamp));
auto processed = [&]() {
for(const rtabmap_msgs::msg::Info::ConstSharedPtr & msg : info->messages)
{
if(rclcpp::Time(msg->header.stamp) == expected)
{
return true;
}
}
return false;
};
for(int attempt=0; attempt<10; ++attempt)
{
send();
if(spinUntil(processed, std::chrono::milliseconds(500)))
{
return true;
}
}
return false;
}
static bool hasPose(const rtabmap_msgs::msg::MapGraph & graph, int id)
{
return std::find(graph.poses_id.begin(), graph.poses_id.end(), id) != graph.poses_id.end();
@@ -304,11 +343,10 @@ TEST_F(CoreWrapperInputsTest, maps_the_next_scans_after_one_without_its_tf)
publishStaticTf("laser");
for(int i=1; i<=3; ++i)
{
const size_t before = info->size();
sendOdom(odom, 1.0 + i, 0.5*i);
scan->publish(makeRoomScan("laser", 1.0 + i, 0.5*i));
ASSERT_TRUE(spinUntil([&]() { return info->size() > before; }))
<< "scan " << i << " was not processed after the one without TF";
ASSERT_TRUE(sendUntilProcessed([&]() {
sendOdom(odom, 1.0 + i, 0.5*i);
scan->publish(makeRoomScan("laser", 1.0 + i, 0.5*i));
}, info, 1.0 + i)) << "scan " << i << " was not processed after the one without TF";
}
EXPECT_EQ(3u, getGraph().graph.poses_id.size());
}
@@ -332,11 +370,10 @@ TEST_F(CoreWrapperInputsTest, maps_the_next_clouds_after_one_without_its_tf)
publishStaticTf("lidar", 0.0, 0.0, 0.5);
for(int i=1; i<=3; ++i)
{
const size_t before = info->size();
sendOdom(odom, 1.0 + i, 0.5*i);
cloud->publish(makeCloud("lidar", 1.0 + i, roomScan3d(0.5*i, 0.0, 0.5)));
ASSERT_TRUE(spinUntil([&]() { return info->size() > before; }))
<< "cloud " << i << " was not processed after the one without TF";
ASSERT_TRUE(sendUntilProcessed([&]() {
sendOdom(odom, 1.0 + i, 0.5*i);
cloud->publish(makeCloud("lidar", 1.0 + i, roomScan3d(0.5*i, 0.0, 0.5)));
}, info, 1.0 + i)) << "cloud " << i << " was not processed after the one without TF";
}
EXPECT_EQ(3u, getGraph().graph.poses_id.size());
}
@@ -354,7 +391,10 @@ TEST_F(CoreWrapperInputsTest, reads_odometry_from_tf_with_odom_frame_id)
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan =
helper()->create_publisher<sensor_msgs::msg::LaserScan>("scan", 10);
ASSERT_TRUE(waitForSubscriber(scan));
EXPECT_EQ(0u, helper()->count_publishers("odom") + helper()->count_subscribers("odom"));
// Waits: the graph can still list the previous test's odom endpoints for a moment.
EXPECT_TRUE(spinUntil([&]() {
return helper()->count_publishers("odom") + helper()->count_subscribers("odom") == 0; }))
<< "something subscribes or publishes on odom";
driveWithScans(nullptr, scan, info, 3, 0.0);
rtabmap_slam/test/test_core_wrapper_mapping.cpp
+42
View File
@@ -93,6 +93,48 @@ TEST_F(CoreWrapperMappingTest, adds_a_node_per_odometry_update)
EXPECT_NE(0, neighborLink(map.graph, 2, 3).from_id);
}
/**
* With a ground truth frame, each node gets the ground truth's pose at its stamp, and
* rtabmap reports its error against it (Gt/* statistics): ground_truth_frame_id ->
* ground_truth_base_frame_id, which defaults to frame_id + "_gt". Here only base_link_gt
* is in TF, following the odometry exactly. Empty, ground_truth_base_frame_id turns the
* ground truth off.
*/
class CoreWrapperGroundTruthTest : public CoreWrapperMappingTest
{
protected:
/// Gt/Translational_rmse/m after three updates with @p params, -1 if not reported.
float groundTruthRmse(const std::vector<rclcpp::Parameter> & params)
{
makeNode(params);
std::shared_ptr<Collector<rtabmap_msgs::msg::Info>> info = collectInfo();
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom = odomPublisher();
for(int i=0; i<3; ++i)
{
const size_t before = info->size();
publishTf(makeTransform("world", "base_link_gt", 1.0 + i, 0.5 * i));
sendOdom(odom, 1.0 + i, 0.5 * i);
EXPECT_TRUE(spinUntil([&]() { return info->size() > before; }))
<< "update " << i << " was not processed";
}
return info->empty() ? -1.0f : stat(info->back(), "Gt/Translational_rmse/m");
}
};
TEST_F(CoreWrapperGroundTruthTest, compares_with_the_ground_truth_of_frame_id_gt_by_default)
{
const float rmse = groundTruthRmse({rclcpp::Parameter("ground_truth_frame_id", "world")});
ASSERT_GE(rmse, 0.0f) << "no Gt/* statistics: the ground truth was not found";
EXPECT_NEAR(0.0f, rmse, 1e-3);
}
TEST_F(CoreWrapperGroundTruthTest, ignores_the_ground_truth_when_its_base_frame_is_empty)
{
EXPECT_LT(groundTruthRmse({rclcpp::Parameter("ground_truth_frame_id", "world"),
rclcpp::Parameter("ground_truth_base_frame_id", "")}), 0.0f)
<< "Gt/* statistics reported although the ground truth is off";
}
/**
* An update that did not move at least RGBD/LinearUpdate (or turn RGBD/AngularUpdate)
* since the last node is not added: a robot standing still does not grow the map.
rtabmap_slam/test/test_core_wrapper_planning.cpp
+30 -6
View File
@@ -50,7 +50,14 @@ protected:
ASSERT_TRUE(waitForPublisher(goalReached_->subscription));
ASSERT_TRUE(waitForPublisher(globalPath_->subscription));
ASSERT_TRUE(waitForPublisher(globalPathNodes_->subscription));
driveStraight(odom_, info_, 5); // nodes 1..5 at x = 0, 0.5, 1.0, 1.5, 2.0
// Nodes 1..5 at x = 0, 0.5, 1.0, 1.5, 2.0.
for(int i=0; i<5; ++i)
{
const size_t before = info_->size();
sendUpdate(1.0 + i, 0.5 * i);
ASSERT_TRUE(spinUntil([&]() { return info_->size() > before; }))
<< "update " << i << " was not processed";
}
nextStamp_ = 6.0;
}
@@ -65,11 +72,17 @@ protected:
virtual std::vector<rclcpp::Parameter> nodeParameters() { return {}; }
/// Sends one odometry update stamped @p stamp, the robot at (@p x, 0, @p yaw).
virtual void sendUpdate(double stamp, double x, double yaw = 0.0)
{
sendOdom(odom_, stamp, x, 0.0, yaw);
}
/// Moves the robot to @p x and waits for the update to be processed.
bool moveTo(double x)
{
const size_t before = info_->size();
sendOdom(odom_, nextStamp_, x);
sendUpdate(nextStamp_, x);
nextStamp_ += 1.0;
return spinUntil([&]() { return info_->size() > before; });
}
@@ -244,9 +257,13 @@ TEST_F(CoreWrapperPlanningTest, plans_through_the_graph_beyond_the_local_radius)
/**
* The same corridor, with the node on the tests' own clock (use_sim_time): map -> odom is
* then stamped in the odometry's time base, and with tf_tolerance at 0, exactly at the
* clock's time. Only for tests whose TF lookups never have to wait: with a clock that only
* moves when told to, a lookup waiting for a transform that is not there -- a goal in an
* unknown frame, say -- would wait forever.
* clock's time. The clock is set to each update's stamp before it is sent. A TF lookup
* waits on that clock (tf2_ros sleeps on it since Rolling/Lyrical): frozen, a lookup that
* has to wait never returns, even once its transform is there. Each update's transform is
* then sent first, the clock and some time for the node's listener after it, the odometry
* last, so that its lookup never has to wait. Only for tests whose lookups find their
* transform: one for a transform that is not there -- a goal in an unknown frame, say --
* would wait forever.
*/
class CoreWrapperPlanningSimTimeTest : public CoreWrapperPlanningTest
{
@@ -257,6 +274,13 @@ protected:
rclcpp::Parameter("tf_tolerance", 0.0)};
}
void sendUpdate(double stamp, double x, double yaw = 0.0) override
{
publishTf(makeTransform("odom", "base_link", stamp, x, 0.0, yaw));
setClock(stamp);
odom_->publish(makeOdometry(stamp, x, 0.0, yaw));
}
/// Sets the node's clock to @p seconds.
void setClock(double seconds)
{
@@ -278,7 +302,7 @@ TEST_F(CoreWrapperPlanningSimTimeTest, transforms_a_goal_in_the_robot_frame_to_t
{
// Turn the robot to face +y where it stands, at x = 2.
const size_t before = info_->size();
sendOdom(odom_, nextStamp_, 2.0, 0.0, M_PI/2.0);
sendUpdate(nextStamp_, 2.0, M_PI/2.0);
ASSERT_TRUE(spinUntil([&]() { return info_->size() > before; }));
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr goal =
rtabmap_slam/test/test_shutdown.py
+112
View File
@@ -0,0 +1,112 @@
"""
Ctrl-C on `ros2 launch` leaves rtabmap's database complete.
Ctrl-C sends SIGINT to the whole process group, and `ros2 launch` then sends its own
SIGINT to each node: rtabmap gets two. It saves what it kept in memory only -- the
optimized graph, the links added to nodes already in the database -- when it closes the
database, so it has to survive the second SIGINT until then.
"""
import os
import signal
import sqlite3
import subprocess
import time
from pathlib import Path
import rclpy
from geometry_msgs.msg import TransformStamped
from nav_msgs.msg import Odometry
from rclpy.qos import QoSProfile
from rtabmap_msgs.msg import Info
from tf2_msgs.msg import TFMessage
LAUNCH_FILE = Path(__file__).parent / 'rtabmap_odom_only.launch.py'
NODES = 5
def _odometry(stamp: float, x: float):
"""odom -> base_link at @p x, as TF and as an odometry message, the way the C++
tests' sendOdom() sends them."""
tf = TransformStamped()
tf.header.frame_id = 'odom'
tf.header.stamp.sec = int(stamp)
tf.child_frame_id = 'base_link'
tf.transform.translation.x = x
tf.transform.rotation.w = 1.0
odom = Odometry()
odom.header = tf.header
odom.child_frame_id = 'base_link'
odom.pose.pose.position.x = x
odom.pose.pose.orientation.w = 1.0
odom.pose.covariance = [0.001 if i % 7 == 0 else 0.0 for i in range(36)]
odom.twist.covariance = odom.pose.covariance
return TFMessage(transforms=[tf]), odom
def _spin_until(node, done, timeout: float) -> bool:
end = time.monotonic() + timeout
while time.monotonic() < end:
if done():
return True
rclpy.spin_once(node, timeout_sec=0.05)
return done()
def _map(node, launch):
"""Drives NODES odometry updates into rtabmap, waiting for each to be processed."""
tf_pub = node.create_publisher(TFMessage, '/tf', QoSProfile(depth=100))
odom_pub = node.create_publisher(Odometry, 'odom', 10)
info = []
node.create_subscription(Info, 'info', info.append, 10)
started = lambda: (launch.poll() is not None or ( # noqa: E731
odom_pub.get_subscription_count() > 0 and tf_pub.get_subscription_count() > 0
and node.count_publishers('info') > 0))
assert _spin_until(node, started, 60.0) and launch.poll() is None, 'rtabmap did not start'
# Matched on this side only: rtabmap's side matches on its own time, and until then
# its best-effort subscription (Fast DDS's default) drops what it is sent, and it
# does not publish info, having no subscriber.
_spin_until(node, lambda: False, 1.0)
for i in range(NODES):
tf, odom = _odometry(1.0 + i, 0.5 * i)
tf_pub.publish(tf)
odom_pub.publish(odom)
assert _spin_until(node, lambda: len(info) > i, 10.0), f'update {i} was not processed'
def test_ctrl_c_saves_the_database(tmp_path):
database = tmp_path / 'rtabmap.db'
log_path = tmp_path / 'launch.log'
with open(log_path, 'w') as log:
launch = subprocess.Popen(
['ros2', 'launch', str(LAUNCH_FILE), f'database_path:={database}',
f'working_directory:={tmp_path}'],
stdout=log, stderr=subprocess.STDOUT, start_new_session=True)
rclpy.init()
try:
node = rclpy.create_node('rtabmap_slam_test_shutdown')
try:
_map(node, launch)
finally:
node.destroy_node()
os.killpg(launch.pid, signal.SIGINT) # Ctrl-C
launch.wait(timeout=60)
except AssertionError as e:
raise AssertionError(f'{e}\n{log_path.read_text()}') from None
finally:
rclpy.try_shutdown()
if launch.poll() is None:
os.killpg(launch.pid, signal.SIGKILL)
launch.wait()
log = log_path.read_text()
assert 'process has finished cleanly' in log, log
with sqlite3.connect(database) as db:
optimized = db.execute('SELECT opt_poses FROM Admin').fetchone()[0]
# Each neighbor link is in both directions; new -> old goes in with the new node,
# old -> new is added to a node already saved, and is written at closing.
forward, backward = (
db.execute(f'SELECT COUNT(*) FROM Link WHERE type = 0 AND from_id {op} to_id')
.fetchone()[0] for op in ('<', '>'))
assert optimized, 'no optimized graph saved'
assert (forward, backward) == (NODES - 1, NODES - 1)
rtabmap_sync/doc/rgb_sync.md
+1
View File
@@ -70,6 +70,7 @@ The output's `header.frame_id` comes from the camera_info; its `header.stamp` is
| `approx_sync` | `bool` | `false` | Match the image and its calibration by nearest stamp. Defaults to **exact**; see [Synchronization](#synchronization). |
| `approx_sync_max_interval` | `double` | `0.0` | Reject pairs spanning more than this many seconds. `0` disables. |
| `topic_queue_size` | `int` | `10` | Queue depth of each input subscription. |
| `output_queue_size` | `int` | `1` | History depth of the `rgbd_image` publishers. |
| `sync_queue_size` | `int` | `10` | Queue depth of the synchronizer. |
| `queue_size` | `int` | — | **Deprecated**, renamed to `sync_queue_size`. |
| `qos` | `int` | `0` | Reliability of the subscription and the publishers: `0` system default, `1` reliable, `2` best effort. |
rtabmap_sync/doc/rgbd_sync.md
+1
View File
@@ -124,6 +124,7 @@ The output's `header.stamp` is the **later** of the color and depth stamps, so t
| `approx_sync` | `bool` | `true` | Match the inputs by nearest stamp. **Set `false` if your camera allows it** — see [Synchronization](#synchronization). |
| `approx_sync_max_interval` | `double` | `0.0` | Reject sets spanning more than this many seconds. `0` disables. Worth setting; see [Synchronization](#synchronization). |
| `topic_queue_size` | `int` | `10` | Queue depth of each input subscription. |
| `output_queue_size` | `int` | `1` | History depth of the `rgbd_image` publishers. |
| `sync_queue_size` | `int` | `10` | Queue depth of the synchronizer. |
| `queue_size` | `int` | — | **Deprecated**, renamed to `sync_queue_size`. Still copied to it, with a warning. |
| `qos` | `int` | `0` | Reliability of the subscriptions and the publishers: `0` system default, `1` reliable, `2` best effort. |
rtabmap_sync/doc/stereo_sync.md
+1
View File
@@ -103,6 +103,7 @@ The output's `header.frame_id` comes from the **left** camera_info, and its `hea
| `approx_sync` | `bool` | `false` | Match the inputs by nearest stamp. Defaults to **exact** here; see [Synchronization](#synchronization). |
| `approx_sync_max_interval` | `double` | `0.0` | Reject sets spanning more than this many seconds. `0` disables. Only meaningful with `approx_sync`. |
| `topic_queue_size` | `int` | `10` | Queue depth of each input subscription. |
| `output_queue_size` | `int` | `1` | History depth of the `rgbd_image` publishers. |
| `sync_queue_size` | `int` | `10` | Queue depth of the synchronizer. |
| `queue_size` | `int` | — | **Deprecated**, renamed to `sync_queue_size`. |
| `qos` | `int` | `0` | Reliability of the subscriptions and the publishers: `0` system default, `1` reliable, `2` best effort. |
rtabmap_sync/src/nodelets/rgb_sync.cpp
+4 -2
View File
@@ -63,6 +63,7 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
approxSync = this->declare_parameter("approx_sync", approxSync);
approxSyncMaxInterval = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval);
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
int outputQueueSize = this->declare_parameter("output_queue_size", 1);
int queueSize = this->declare_parameter("queue_size", -1);
if(queueSize != -1)
{
@@ -83,6 +84,7 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
if(approxSync)
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval);
RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: output_queue_size = %d", get_name(), outputQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCaminfo);
@@ -90,8 +92,8 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str());
RCLCPP_INFO(this->get_logger(), "%s: fill_empty_depth = %s", get_name(), fillEmptyDepth_?"true":"false");
rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
if(approxSync)
{
rtabmap_sync/src/nodelets/rgbd_sync.cpp
+4 -2
View File
@@ -62,6 +62,7 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
approxSync = this->declare_parameter("approx_sync", approxSync);
approxSyncMaxInterval_ = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval_);
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
int outputQueueSize = this->declare_parameter("output_queue_size", 1);
int queueSize = this->declare_parameter("queue_size", -1);
if(queueSize != -1)
{
@@ -103,6 +104,7 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
if(approxSync)
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval_);
RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: output_queue_size = %d", get_name(), outputQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo);
@@ -112,8 +114,8 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str());
RCLCPP_INFO(this->get_logger(), "%s: depth_transport = %s", get_name(), depthTransport.c_str());
rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
if(approxSync)
{
rtabmap_sync/src/nodelets/stereo_sync.cpp
+4 -2
View File
@@ -59,6 +59,7 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
approxSync = this->declare_parameter("approx_sync", approxSync);
approxSyncMaxInterval_ = this->declare_parameter("approx_sync_max_interval", approxSyncMaxInterval_);
topicQueueSize = this->declare_parameter("topic_queue_size", topicQueueSize);
int outputQueueSize = this->declare_parameter("output_queue_size", 1);
int queueSize = this->declare_parameter("queue_size", -1);
if(queueSize != -1)
{
@@ -77,14 +78,15 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s: approx_sync = %s", get_name(), approxSync?"true":"false");
RCLCPP_INFO(this->get_logger(), "%s: approx_sync_max_interval = %f", get_name(), approxSyncMaxInterval_);
RCLCPP_INFO(this->get_logger(), "%s: topic_queue_size = %d", get_name(), topicQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: output_queue_size = %d", get_name(), outputQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: sync_queue_size = %d", get_name(), syncQueueSize);
RCLCPP_INFO(this->get_logger(), "%s: qos = %d", get_name(), qos);
RCLCPP_INFO(this->get_logger(), "%s: qos_camera_info = %d", get_name(), qosCamInfo);
RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str());
rgbdImagePub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImagePub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
if(approxSync)
{
rtabmap_sync/test/node_test_utils.hpp
+34 -2
View File
@@ -32,6 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rclcpp/rclcpp.hpp>
#include <execinfo.h>
#include <unistd.h>
#include <csignal>
#include <chrono>
#include <functional>
#include <memory>
@@ -65,11 +70,38 @@ public:
}
};
/**
* @brief Prints the stack of a test binary that crashes, then crashes as it would have.
*
* A crash in CI shows only the return code otherwise (-11 for SIGSEGV), there being no
* debugger or core dump there. Library frames come with their function names; this
* binary's with an offset, for `addr2line -C -f -e <binary> <offset>`.
*/
inline void printStackOnCrash(int signal)
{
void * frames[64];
const int count = ::backtrace(frames, 64);
const char header[] = "\n*** Crashed, stack trace:\n";
if(::write(STDERR_FILENO, header, sizeof(header) - 1) < 0) {}
::backtrace_symbols_fd(frames, count, STDERR_FILENO);
std::signal(signal, SIG_DFL);
std::raise(signal);
}
/// Registers RclcppEnvironment. Call once at file scope in each test binary.
inline ::testing::Environment * registerRclcppEnvironment()
{
static ::testing::Environment * const env =
::testing::AddGlobalTestEnvironment(new RclcppEnvironment);
static ::testing::Environment * const env = []() {
// backtrace() loads libgcc on its first call, which is not safe in a signal
// handler: done here.
void * frame;
::backtrace(&frame, 1);
for(int signal : {SIGSEGV, SIGBUS, SIGFPE, SIGILL, SIGABRT})
{
std::signal(signal, printStackOnCrash);
}
return ::testing::AddGlobalTestEnvironment(new RclcppEnvironment);
}();
return env;
}
rtabmap_util/doc/lidar_deskewing.md
+2 -1
View File
@@ -65,7 +65,8 @@ Output names are derived from the **resolved** input names, so remapping the inp
| `fixed_frame_id` | `string` | `""` | **Required.** Frame the motion is measured against, usually `odom`. |
| `wait_for_transform` | `double` | `0.01` | Seconds to wait for the transforms spanning the sweep. Raise it if odometry lags the lidar. |
| `slerp` | `bool` | `false` | Interpolate between the poses at the start and end of the sweep instead of looking up TF per point. Much cheaper, and accurate enough at constant velocity. |
| `queue_size` | `int` | `1` | Queue depth of the input subscriptions. |
| `queue_size` | `int` | `5` | Queue depth of the input subscriptions. |
| `output_queue_size` | `int` | `1` | History depth of the deskewed cloud publishers. |
| `qos` | `int` | `0` | Reliability of the input subscriptions: `0` system default, `1` reliable, `2` best effort. |
## Requirements
rtabmap_util/src/nodelets/lidar_deskewing.cpp
+4 -2
View File
@@ -19,6 +19,8 @@ LidarDeskewing::LidarDeskewing(const rclcpp::NodeOptions & options) :
int queueSize = 5;
int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
queueSize = this->declare_parameter("queue_size", queueSize);
int outputQueueSize = 1;
outputQueueSize = this->declare_parameter("output_queue_size", outputQueueSize);
qos = this->declare_parameter("qos", qos);
fixedFrameId_ = this->declare_parameter("fixed_frame_id", fixedFrameId_);
waitForTransformDuration_ = this->declare_parameter("wait_for_transform", waitForTransformDuration_);
@@ -36,8 +38,8 @@ LidarDeskewing::LidarDeskewing(const rclcpp::NodeOptions & options) :
subScan_ = create_subscription<sensor_msgs::msg::LaserScan>("input_scan", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&LidarDeskewing::callbackScan, this, std::placeholders::_1));
subCloud_ = create_subscription<sensor_msgs::msg::PointCloud2>("input_cloud", rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&LidarDeskewing::callbackCloud, this, std::placeholders::_1));
pubScan_ = create_publisher<sensor_msgs::msg::PointCloud2>(std::string(subScan_->get_topic_name()) + "/deskewed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
pubCloud_ = create_publisher<sensor_msgs::msg::PointCloud2>(std::string(subCloud_->get_topic_name()) + "/deskewed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
pubScan_ = create_publisher<sensor_msgs::msg::PointCloud2>(std::string(subScan_->get_topic_name()) + "/deskewed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
pubCloud_ = create_publisher<sensor_msgs::msg::PointCloud2>(std::string(subCloud_->get_topic_name()) + "/deskewed", rclcpp::QoS(outputQueueSize).reliability((rmw_qos_reliability_policy_t)qos));
}
LidarDeskewing::~LidarDeskewing()
rtabmap_util/test/node_test_utils.hpp
+34 -2
View File
@@ -31,6 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <gtest/gtest.h>
#include <rclcpp/rclcpp.hpp>
#include <execinfo.h>
#include <unistd.h>
#include <csignal>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <tf2/LinearMath/Quaternion.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
@@ -71,11 +76,38 @@ public:
}
};
/**
* @brief Prints the stack of a test binary that crashes, then crashes as it would have.
*
* A crash in CI shows only the return code otherwise (-11 for SIGSEGV), there being no
* debugger or core dump there. Library frames come with their function names; this
* binary's with an offset, for `addr2line -C -f -e <binary> <offset>`.
*/
inline void printStackOnCrash(int signal)
{
void * frames[64];
const int count = ::backtrace(frames, 64);
const char header[] = "\n*** Crashed, stack trace:\n";
if(::write(STDERR_FILENO, header, sizeof(header) - 1) < 0) {}
::backtrace_symbols_fd(frames, count, STDERR_FILENO);
std::signal(signal, SIG_DFL);
std::raise(signal);
}
/// Registers RclcppEnvironment. Call once at file scope in each test binary.
inline ::testing::Environment * registerRclcppEnvironment()
{
static ::testing::Environment * const env =
::testing::AddGlobalTestEnvironment(new RclcppEnvironment);
static ::testing::Environment * const env = []() {
// backtrace() loads libgcc on its first call, which is not safe in a signal
// handler: done here.
void * frame;
::backtrace(&frame, 1);
for(int signal : {SIGSEGV, SIGBUS, SIGFPE, SIGILL, SIGABRT})
{
std::signal(signal, printStackOnCrash);
}
return ::testing::AddGlobalTestEnvironment(new RclcppEnvironment);
}();
return env;
}
rtabmap_viz/src/GuiWrapper.cpp
+3 -1
View File
@@ -102,7 +102,9 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) :
uSleep(500);
prefDialog_ = new PreferencesDialogROS(this, configFile, rtabmapNodeName_);
mainWindow_ = new MainWindow(prefDialog_);
mainWindow_->setWindowTitle(mainWindow_->windowTitle()+" [ROS]");
// The configuration file in the title, as rviz does: it is where the settings are
// saved, so which one is in use matters.
mainWindow_->setWindowTitle(mainWindow_->windowTitle()+" [ROS] - "+prefDialog_->getIniFilePath());
mainWindow_->show();
bool paused = false;