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demo(turtlebot3): FusionCore + icp_odometry feedback loop (issue #1418 Option A) (#1419)

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* demo(turtlebot3): add FusionCore + icp_odometry feedback loop demo

Adds a TurtleBot3 Gazebo Harmonic demo (ref issue #1418 Option A) where
FusionCore (wheel + IMU UKF) and icp_odometry tighten each other in a
feedback loop: FusionCore's stable odom frame serves as the scan-match
initial guess via guess_frame_id, and the ICP result feeds back into
FusionCore as a second velocity source.  rtabmap SLAM consumes the ICP
output for mapping/loop-closure.  Nav2 uses /fusion/odom.

Files added:
  launch/turtlebot3/fusioncore/turtlebot3_fusioncore_icp.launch.py
  launch/turtlebot3/fusioncore/turtlebot3_sim_fusioncore_icp_demo.launch.py
  launch/turtlebot3/fusioncore/README.md
  params/fusioncore_tb3.yaml
  params/fusioncore_tb3_bridge.yaml          (TF-conflict-free bridge)
  params/turtlebot3_fusioncore_icp_nav2_params.yaml

* demo(turtlebot3): add FusionCore demo entry to rtabmap_demos README

* fix(fusioncore-demo): remove Odom/ResetCountdown from rtabmap, strip GPS params

* docs(demos): add FusionCore icp_odometry demo GIF to README

* fix(fusioncore-demo): add imu.frame_id override and docking_server params

* fix(fusioncore-demo): remove docking_server from nav2 params

* Fixing turtlebot3 demos on Jazzy

* Updated humble

* Working turtlebot3 demos on humble and jazzy

* Fixed Twist->TwistStamped. Fixed rviz2 crashing because missing docking server

* demo(turtlebot3): add FusionCore + icp_odometry feedback loop demo

Adds a TurtleBot3 Gazebo Harmonic demo (ref issue #1418 Option A) where
FusionCore (wheel + IMU UKF) and icp_odometry tighten each other in a
feedback loop: FusionCore's stable odom frame serves as the scan-match
initial guess via guess_frame_id, and the ICP result feeds back into
FusionCore as a second velocity source.  rtabmap SLAM consumes the ICP
output for mapping/loop-closure.  Nav2 uses /fusion/odom.

Files added:
  launch/turtlebot3/fusioncore/turtlebot3_fusioncore_icp.launch.py
  launch/turtlebot3/fusioncore/turtlebot3_sim_fusioncore_icp_demo.launch.py
  launch/turtlebot3/fusioncore/README.md
  params/fusioncore_tb3.yaml
  params/fusioncore_tb3_bridge.yaml          (TF-conflict-free bridge)
  params/turtlebot3_fusioncore_icp_nav2_params.yaml

* demo(turtlebot3): add FusionCore demo entry to rtabmap_demos README

* fix(fusioncore-demo): remove Odom/ResetCountdown from rtabmap, strip GPS params

* docs(demos): add FusionCore icp_odometry demo GIF to README

* fix(fusioncore-demo): add imu.frame_id override and docking_server params

* fix(fusioncore-demo): remove docking_server from nav2 params

* Fixing turtlebot3 demos on Jazzy

* Updated humble

* Fixed Twist->TwistStamped. Fixed rviz2 crashing because missing docking server

* fix(fusioncore-demo): tune IMU noise for Gazebo sim, add real-hardware comments

* docs(fusioncore-demo): add sim vs real hardware note to README

---------

Co-authored-by: manankharwar <[email protected]>
Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Manan Kharwar
2026-05-13 22:26:25 -07:00
committed by GitHub
co-authored by manankharwar matlabbe
parent d9cd332c53
commit aec4f91f61
7 changed files with 834 additions and 0 deletions
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rtabmap_demos/README.md
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@@ -8,6 +8,7 @@
+ [Turtlebot3 Nav2 and RGB-D SLAM](#turtlebot3-nav2-and-rgb-d-slam)
+ [Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2-2d-lidar-and-rgb-d-slam)
+ [Turtlebot3 Nav2, Fake 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2-fake-2d-lidar-and-rgb-d-slam)
+ [Turtlebot3 Nav2, 2D LiDAR SLAM with FusionCore (IMU + wheel UKF)](#turtlebot3-nav2-2d-lidar-slam-with-fusioncore-imu--wheel-ukf)
+ [Champ Quadruped Nav2, Elevation Map and VSLAM](#champ-quadruped-nav2-elevation-map-and-vslam)
+ [Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-2d-lidar-and-rgb-d-slam)
+ [Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-3d-lidar-and-rgb-d-slam)
@@ -59,6 +60,12 @@
* Yellow: The map.
![Peek 2025-07-04 16-57](https://github.com/user-attachments/assets/8869cf57-35a1-4236-bdab-151b88ae2ea1)
### Turtlebot3 Nav2, 2D LiDAR SLAM with FusionCore (IMU + wheel UKF)
[turtlebot3_sim_fusioncore_icp_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/fusioncore/turtlebot3_sim_fusioncore_icp_demo.launch.py) (Jazzy + Gazebo Harmonic)
FusionCore (wheel + IMU UKF) and `icp_odometry` run in a feedback loop: FusionCore's stable `odom` frame seeds scan matching via `guess_frame_id`, and the ICP result feeds back into FusionCore as a second velocity source. See [README](launch/turtlebot3/fusioncore/README.md) for architecture details.
![FusionCore icp_odometry demo](https://github.com/user-attachments/assets/e1e07cfb-74e0-48b9-9bfd-32b68ee5a6ef)
### Champ Quadruped Nav2, Elevation Map and VSLAM
[champ_sim_vslam.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/champ/champ_sim_vslam.launch.py)