* 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]>
* Updating examples and README
* updated main readme
* odom: Added always_check_imu_tf parameter. sync: increased default sync_queue_size from 2 to 5 (to be more flexible to different hardware), added input and output diagnostics. rtabmap_viz: fixed node with same name redeclared warning.
* update readme
* Added husky demo
* converted demo_robot_mapping.launch to ros2
* Converted stereo_outdoor demo from ros1 to ros2
* Converted multi-session demo to ros2
* Converted demo_find_object launch to ros2
* renamed files
* uniformized default qos, increased sync_queue_size default to 10
* Added vlp16 + imu example
* Added husky 3D lidar demos
* moved demos in subdir
* Added vlp16+zed example
* rtabmap_viz: ignore odom update if tf not ready when not using topic (to avoid showing red screen). Added champ VSLAM demo.
* forwarded camera_model arg for zed examples, removed qos for turtlebot4 demo
* pointcloud_to_depthimage: added more error logs, removed output camera_info published twice and match ros1 namespaces
* Created two base general examples for 3D lidar usage, then create hardware specific examples on top of them.
* Added isaac sim demo
* Final update of all demos. Fixed MapCloud rviz plugin crashing when floor/ceiling filtering is used and resulting cloud is empty.
* Fixed 2d scan deskewing output frame, moved nav2 params under "params" folder, added number of topics processed/dropped for odometry, added icp_odometry option for turtlebot3 scan-only demo.
* rtabmap_demos: added README with examples
* Added TOC
* bump version to 0.21.9
matlabbe