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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
co-authored by
manankharwar
matlabbe
manankharwar
matlabbe
parent
d9cd332c53
commit
aec4f91f61
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# FusionCore + icp_odometry: TurtleBot3 Gazebo Demo
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This demo shows a feedback loop between [FusionCore](https://github.com/manankharwar/fusioncore) and rtabmap's `icp_odometry` where each node tightens the other.
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## Architecture
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```
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/imu ──────────────────────┐
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/odom (wheel) ──────────────┤──→ FusionCore (UKF)
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/rtabmap/icp_odometry ──────┘ │
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↑ │ publishes: odom → base_footprint TF
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│ │ /fusion/odom
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│ guess_frame_id: odom│
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└────── icp_odometry ←───────┘
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│ (publish_tf: false)
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│
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└──→ /rtabmap/icp_odometry ──→ rtabmap SLAM ──→ map → odom TF
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```
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**What each node contributes:**
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| Node | Input | Provides |
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|---|---|---|
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| FusionCore | wheels + IMU | stable `odom` frame, continuous state at 100 Hz |
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| icp_odometry | `/scan` + FusionCore's `odom` as initial guess | scan-level pose corrections |
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| FusionCore encoder2 | icp_odometry output | tighter velocity corrections from ICP |
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| rtabmap SLAM | icp_odometry output | global map, loop closures |
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FusionCore gives `icp_odometry` a stable initial guess via `guess_frame_id: odom`.
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Better initial guesses mean scan matching succeeds more often and with lower error.
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The ICP result feeds back into FusionCore as a second velocity source (`encoder2`),
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tightening the state estimate further. `Odom/ResetCountdown: 1` lets the system
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auto-recover if ICP loses tracking.
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## Simulation vs real hardware
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In Gazebo, the DiffDrive plugin produces near-perfect wheel velocities with no slip or
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encoder noise, while the simulated MPU9250 injects Gaussian noise. FusionCore fusing
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both means the noisy IMU slightly degrades what is already a perfect odometry source,
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so the `map → odom` correction on each scan update will be slightly larger than in the
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standard wheel-odometry-only demo. On real hardware this completely inverts: wheel
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encoders accumulate slip, terrain variation, and mechanical error that dwarfs IMU noise,
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and fusion pays off measurably. The sim-tuned IMU noise values in `fusioncore_tb3.yaml`
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(`gyro_noise: 0.002`, `accel_noise: 0.02`) reduce unnecessary filter uncertainty in
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simulation; real MPU9250 users should use the hardware spec values noted in that file.
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## Quick start
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```bash
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export TURTLEBOT3_MODEL=waffle
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ros2 launch rtabmap_demos turtlebot3_sim_fusioncore_icp_demo.launch.py
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```
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Optional arguments:
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```bash
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# Localization mode (requires saved map from a previous mapping run)
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ros2 launch rtabmap_demos turtlebot3_sim_fusioncore_icp_demo.launch.py localization:=true
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# Different Gazebo world
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ros2 launch rtabmap_demos turtlebot3_sim_fusioncore_icp_demo.launch.py world:=house
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```
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## Prerequisites
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```bash
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sudo apt install ros-jazzy-fusioncore-ros ros-jazzy-turtlebot3-gazebo ros-jazzy-rtabmap-ros ros-jazzy-nav2-bringup
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export TURTLEBOT3_MODEL=waffle
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```
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## Files
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| File | Purpose |
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|---|---|
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| `turtlebot3_sim_fusioncore_icp_demo.launch.py` | Complete demo: Gazebo + FusionCore + rtabmap + Nav2 |
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| `turtlebot3_fusioncore_icp.launch.py` | Core only: FusionCore + icp_odometry + rtabmap (no Gazebo) |
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| `../../params/fusioncore_tb3.yaml` | FusionCore config for TB3 Waffle |
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| `../../params/turtlebot3_fusioncore_icp_nav2_params.yaml` | Nav2 config using `/fusion/odom` |
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## Topic and TF summary
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| Topic / TF | Publisher | Subscribers |
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|---|---|---|
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| `/imu` | Gazebo | FusionCore |
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| `/odom` | Gazebo (wheel) | FusionCore |
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| `/scan` | Gazebo (lidar) | icp_odometry, rtabmap |
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| `/rtabmap/icp_odometry` | icp_odometry | FusionCore (encoder2), rtabmap |
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| `/fusion/odom` | FusionCore | Nav2 |
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| TF `odom → base_footprint` | FusionCore | icp_odometry (guess), Nav2 |
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| TF `map → odom` | rtabmap | Nav2 |
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@@ -0,0 +1,165 @@
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"""
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FusionCore + icp_odometry feedback loop for TurtleBot3.
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Architecture (Option A from rtabmap_ros issue #1418):
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FusionCore (wheels + IMU)
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|-- publishes: odom -> base_footprint TF, /fusion/odom
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|-- provides initial pose guess to icp_odometry via guess_frame_id
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icp_odometry (/scan)
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|-- guess_frame_id: odom (uses FusionCore's stable odom as scan match seed)
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|-- publish_tf: false (FusionCore owns the odom TF)
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|-- publishes: /rtabmap/icp_odometry
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FusionCore encoder2
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|-- topic: /rtabmap/icp_odometry
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|-- ICP corrections fed back as a second velocity source
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rtabmap SLAM
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|-- subscribes to /rtabmap/icp_odometry for mapping
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|-- Odom/ResetCountdown: 1 for auto-recovery if ICP loses tracking
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|-- publishes: map -> odom TF
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (DeclareLaunchArgument, EmitEvent,
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OpaqueFunction, RegisterEventHandler, TimerAction)
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import LifecycleNode, Node
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from launch_ros.event_handlers import OnStateTransition
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from launch_ros.events.lifecycle import ChangeState
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from lifecycle_msgs.msg import Transition
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def launch_setup(context, *args, **kwargs):
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use_sim_time = LaunchConfiguration('use_sim_time')
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localization = LaunchConfiguration('localization').perform(context)
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localization = localization in ('True', 'true')
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pkg_demos = get_package_share_directory('rtabmap_demos')
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fusioncore_config = os.path.join(pkg_demos, 'params', 'fusioncore_tb3.yaml')
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# ── FusionCore lifecycle node ─────────────────────────────────────────────
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fc = LifecycleNode(
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package='fusioncore_ros',
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executable='fusioncore_node',
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name='fusioncore',
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namespace='',
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output='screen',
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parameters=[fusioncore_config, {'use_sim_time': use_sim_time}],
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remappings=[
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('/imu/data', '/imu'), # TB3 Gazebo IMU topic
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('/odom/wheels', '/odom'), # TB3 Gazebo wheel odometry topic
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],
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)
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# Wait 2 s for node to spin up, then configure
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configure = TimerAction(
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period=2.0,
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actions=[EmitEvent(event=ChangeState(
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lifecycle_node_matcher=lambda a: a is fc,
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transition_id=Transition.TRANSITION_CONFIGURE,
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))],
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)
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# As soon as configuring -> inactive, activate
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activate = RegisterEventHandler(OnStateTransition(
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target_lifecycle_node=fc,
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start_state='configuring',
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goal_state='inactive',
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entities=[EmitEvent(event=ChangeState(
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lifecycle_node_matcher=lambda a: a is fc,
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transition_id=Transition.TRANSITION_ACTIVATE,
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))],
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))
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# ── icp_odometry ──────────────────────────────────────────────────────────
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icp_parameters = {
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'frame_id': 'base_footprint',
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'odom_frame_id': 'odom',
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'guess_frame_id': 'odom',
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'publish_tf': False,
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'publish_null_when_lost': False,
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'use_sim_time': use_sim_time,
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'Reg/Strategy': '1',
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'Reg/Force3DoF': 'true',
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'Odom/ResetCountdown': '1',
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'RGBD/NeighborLinkRefining': 'True',
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'Grid/RangeMin': '0.2',
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}
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icp_odometry_node = Node(
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package='rtabmap_odom',
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executable='icp_odometry',
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output='screen',
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parameters=[icp_parameters],
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remappings=[
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('scan', '/scan'),
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('odom', '/rtabmap/icp_odometry'),
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],
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)
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# ── rtabmap SLAM ──────────────────────────────────────────────────────────
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slam_parameters = {
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'frame_id': 'base_footprint',
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'odom_frame_id': 'odom',
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'use_sim_time': use_sim_time,
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'subscribe_depth': False,
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'subscribe_rgb': False,
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'subscribe_scan': True,
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'approx_sync': True,
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'use_action_for_goal': True,
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'Reg/Strategy': '1',
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'Reg/Force3DoF': 'true',
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'RGBD/NeighborLinkRefining': 'True',
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'Grid/RangeMin': '0.2',
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'Optimizer/GravitySigma': '0',
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}
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if localization:
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slam_parameters['Mem/IncrementalMemory'] = 'False'
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slam_parameters['Mem/InitWMWithAllNodes'] = 'True'
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rtabmap_args = [] if localization else ['-d']
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rtabmap_node = Node(
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package='rtabmap_slam',
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executable='rtabmap',
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output='screen',
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parameters=[slam_parameters],
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remappings=[
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('scan', '/scan'),
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('odom', '/rtabmap/icp_odometry'),
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],
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arguments=rtabmap_args,
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)
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rtabmap_viz_node = Node(
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package='rtabmap_viz',
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executable='rtabmap_viz',
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output='screen',
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parameters=[slam_parameters, {'odometry_node_name': 'icp_odometry'}],
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remappings=[
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('scan', '/scan'),
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('odom', '/rtabmap/icp_odometry'),
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],
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)
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return [fc, configure, activate, icp_odometry_node, rtabmap_node, rtabmap_viz_node]
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def generate_launch_description():
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return LaunchDescription([
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DeclareLaunchArgument(
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'use_sim_time', default_value='true',
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description='Use simulation (Gazebo) clock if true'),
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DeclareLaunchArgument(
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'localization', default_value='false',
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description='Launch in localization mode (requires existing map)'),
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OpaqueFunction(function=launch_setup),
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])
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+181
@@ -0,0 +1,181 @@
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"""
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Complete TurtleBot3 demo: Gazebo (new) + FusionCore + icp_odometry + Nav2.
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Launches in order:
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1. Gazebo Harmonic (via ros_gz_sim) with turtlebot3_world
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2. Robot state publisher + spawn TurtleBot3
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3. Custom ros_gz_bridge WITHOUT the odom TF (FusionCore owns odom->base_footprint)
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4. FusionCore lifecycle node (configure -> activate automatically)
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5. icp_odometry using FusionCore's odom frame as scan-match initial guess
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6. rtabmap SLAM subscribing to icp_odometry output
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7. Nav2 using /fusion/odom
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Usage:
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export TURTLEBOT3_MODEL=waffle
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ros2 launch rtabmap_demos turtlebot3_sim_fusioncore_icp_demo.launch.py
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# Localization mode (requires existing map):
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ros2 launch rtabmap_demos turtlebot3_sim_fusioncore_icp_demo.launch.py localization:=true
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# Different world:
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ros2 launch rtabmap_demos turtlebot3_sim_fusioncore_icp_demo.launch.py world:=house
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Note on TF ownership:
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The standard turtlebot3_gazebo bridge forwards the DiffDrive TF to ROS, which
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conflicts with FusionCore's odom->base_footprint. This demo uses a custom bridge
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config (fusioncore_tb3_bridge.yaml) that suppresses the Gazebo TF entry.
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FusionCore is the sole publisher of odom->base_footprint.
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (AppendEnvironmentVariable, DeclareLaunchArgument,
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IncludeLaunchDescription, OpaqueFunction)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def launch_setup(context, *args, **kwargs):
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if 'TURTLEBOT3_MODEL' not in os.environ:
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os.environ['TURTLEBOT3_MODEL'] = 'waffle'
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tb3_model = os.environ['TURTLEBOT3_MODEL']
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pkg_tb3_gz = get_package_share_directory('turtlebot3_gazebo')
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pkg_ros_gz = get_package_share_directory('ros_gz_sim')
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pkg_nav2 = get_package_share_directory('nav2_bringup')
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pkg_demos = get_package_share_directory('rtabmap_demos')
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world_name = LaunchConfiguration('world').perform(context)
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world_file = os.path.join(pkg_tb3_gz, 'worlds', f'turtlebot3_{world_name}.world')
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# ── Gazebo server + client ────────────────────────────────────────────────
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gz_server = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_ros_gz, 'launch', 'gz_sim.launch.py')),
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launch_arguments={
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'gz_args': f'-r -s -v2 {world_file}',
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'on_exit_shutdown': 'true',
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}.items(),
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)
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gz_client = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_ros_gz, 'launch', 'gz_sim.launch.py')),
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launch_arguments={'gz_args': '-g -v2', 'on_exit_shutdown': 'true'}.items(),
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)
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# ── Robot state publisher ─────────────────────────────────────────────────
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robot_state_publisher = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_tb3_gz, 'launch', 'robot_state_publisher.launch.py')),
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launch_arguments={'use_sim_time': 'true'}.items(),
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)
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# ── Spawn TurtleBot3 (entity only, no bridge) ─────────────────────────────
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urdf_path = os.path.join(pkg_tb3_gz, 'models',
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f'turtlebot3_{tb3_model}', 'model.sdf')
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spawn_robot = Node(
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package='ros_gz_sim',
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executable='create',
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arguments=[
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'-name', tb3_model,
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'-file', urdf_path,
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'-x', LaunchConfiguration('x_pose'),
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'-y', LaunchConfiguration('y_pose'),
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'-z', '0.01',
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],
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output='screen',
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)
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# ── Custom bridge: all topics EXCEPT odom TF ──────────────────────────────
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# FusionCore publishes odom->base_footprint; suppress the Gazebo DiffDrive TF.
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bridge_config = os.path.join(pkg_demos, 'params', 'fusioncore_tb3_bridge.yaml')
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bridge = Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=['--ros-args', '-p', f'config_file:={bridge_config}'],
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output='screen',
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)
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# Camera image bridge (waffle only)
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image_bridge = Node(
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package='ros_gz_image',
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executable='image_bridge',
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arguments=['/camera/image_raw'],
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output='screen',
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)
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# ── FusionCore + icp_odometry + rtabmap ───────────────────────────────────
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fusioncore_icp = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_demos, 'launch', 'turtlebot3', 'fusioncore',
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'turtlebot3_fusioncore_icp.launch.py')),
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launch_arguments=[
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('localization', LaunchConfiguration('localization')),
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('use_sim_time', 'true'),
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],
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)
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# ── Nav2 ──────────────────────────────────────────────────────────────────
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nav2 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_nav2, 'launch', 'navigation_launch.py')),
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launch_arguments=[
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||||
('use_sim_time', 'true'),
|
||||
('params_file', PathJoinSubstitution(
|
||||
[FindPackageShare('rtabmap_demos'), 'params',
|
||||
'turtlebot3_fusioncore_icp_nav2_params.yaml'])),
|
||||
],
|
||||
)
|
||||
|
||||
rviz = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(pkg_nav2, 'launch', 'rviz_launch.py')),
|
||||
)
|
||||
|
||||
set_gz_resource_path = AppendEnvironmentVariable(
|
||||
'GZ_SIM_RESOURCE_PATH',
|
||||
os.path.join(pkg_tb3_gz, 'models'),
|
||||
)
|
||||
|
||||
nodes = [
|
||||
set_gz_resource_path,
|
||||
gz_server,
|
||||
gz_client,
|
||||
robot_state_publisher,
|
||||
spawn_robot,
|
||||
bridge,
|
||||
fusioncore_icp,
|
||||
nav2,
|
||||
rviz,
|
||||
]
|
||||
if tb3_model == 'waffle':
|
||||
nodes.insert(6, image_bridge)
|
||||
|
||||
return nodes
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument(
|
||||
'localization', default_value='false',
|
||||
description='Launch in localization mode.'),
|
||||
|
||||
DeclareLaunchArgument(
|
||||
'world', default_value='world',
|
||||
choices=['world', 'house', 'dqn_stage1', 'dqn_stage2',
|
||||
'dqn_stage3', 'dqn_stage4'],
|
||||
description='Turtlebot3 Gazebo world.'),
|
||||
|
||||
DeclareLaunchArgument(
|
||||
'x_pose', default_value='-2.0',
|
||||
description='Initial X position in Gazebo.'),
|
||||
|
||||
DeclareLaunchArgument(
|
||||
'y_pose', default_value='-0.5',
|
||||
description='Initial Y position in Gazebo.'),
|
||||
|
||||
OpaqueFunction(function=launch_setup),
|
||||
])
|
||||
Reference in New Issue
Block a user