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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]>
93 lines
6.7 KiB
Markdown
93 lines
6.7 KiB
Markdown
# rtabmap_demos
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+ [Outdoor Stereo VSLAM](#outdoor-stereo-vslam)
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+ [Indoor 2D LiDAR and RGB-D SLAM](#indoor-2d-lidar-and-rgb-d-slam)
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+ [Multi-Session Indoor 2D LiDAR and RGB-D SLAM](#multi-session-indoor-2d-lidar-and-rgb-d-slam)
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+ [Find-Object with SLAM](#find-object-with-slam)
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+ [Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot4-nav2-2d-lidar-and-rgb-d-slam)
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+ [Turtlebot3 Nav2 and 2D LiDAR SLAM](#turtlebot3-nav2-and-2d-lidar-slam)
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+ [Turtlebot3 Nav2 and RGB-D SLAM](#turtlebot3-nav2-and-rgb-d-slam)
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+ [Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2-2d-lidar-and-rgb-d-slam)
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+ [Turtlebot3 Nav2, Fake 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2-fake-2d-lidar-and-rgb-d-slam)
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+ [Turtlebot3 Nav2, 2D LiDAR SLAM with FusionCore (IMU + wheel UKF)](#turtlebot3-nav2-2d-lidar-slam-with-fusioncore-imu--wheel-ukf)
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+ [Champ Quadruped Nav2, Elevation Map and VSLAM](#champ-quadruped-nav2-elevation-map-and-vslam)
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+ [Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-2d-lidar-and-rgb-d-slam)
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+ [Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-3d-lidar-and-rgb-d-slam)
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+ [Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM](#clearpath-husky-nav2-3d-lidar-assembling-and-rgb-d-slam)
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+ [Isaac Sim Nav2 and Stereo SLAM](#isaac-sim-nav2-and-stereo-slam)
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+ [Isaac Sim Nav2 and RGB-D VSLAM](#isaac-sim-nav2-and-rgb-d-vslam)
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### Outdoor Stereo VSLAM
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[stereo_outdoor_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/stereo_outdoor_demo.launch.py) ([Video](https://youtu.be/qpTS7kg9J3A))
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### Indoor 2D LiDAR and RGB-D SLAM
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[robot_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/robot_mapping_demo.launch.py) (Videos: [rtabmap_viz](https://youtu.be/c0qrEd5rR7M), [rviz](https://youtu.be/MQoSDpAsqps))
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### Multi-Session Indoor 2D LiDAR and RGB-D SLAM
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[multisession_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/multisession_mapping_demo.launch.py) ([Video](https://youtu.be/XrnyhaxPCro))
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### Find-Object with SLAM
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[find_object_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/find_object_demo.launch.py) ([Video](https://youtu.be/o1GSQanY-Do))
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### Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM
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[turtlebot4_sim_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot4/turtlebot4_sim_demo.launch.py)
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### Turtlebot3 Nav2 and 2D LiDAR SLAM
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[turtlebot3_sim_scan_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_scan_demo.launch.py)
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### Turtlebot3 Nav2 and RGB-D SLAM
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[turtlebot3_sim_rgbd_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_demo.launch.py)
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### Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM
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[turtlebot3_sim_rgbd_scan_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_scan_demo.launch.py)
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### Turtlebot3 Nav2, Fake 2D LiDAR and RGB-D SLAM
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[turtlebot3_sim_rgbd_fake_scan_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_fake_scan_demo.launch.py)
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* Red: Scan generated from camera's depth.
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* Orange: Locally assembled scans used for proximity detection.
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* Yellow: The map.
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### Turtlebot3 Nav2, 2D LiDAR SLAM with FusionCore (IMU + wheel UKF)
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[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)
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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.
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### Champ Quadruped Nav2, Elevation Map and VSLAM
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[champ_sim_vslam.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/champ/champ_sim_vslam.launch.py)
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### Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM
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[husky_sim_scan2d_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_sim_scan2d_demo.launch.py)
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### Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM
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[husky_sim_scan3d_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_sim_scan3d_demo.launch.py)
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### Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM
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[husky_sim_scan3d_assemble_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_sim_scan3d_assemble_demo.launch.py)
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### Isaac Sim Nav2 and Stereo SLAM
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[isaac_sim_vslam_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/isaac/isaac_sim_vslam_demo.launch.py)
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### Isaac Sim Nav2 and RGB-D VSLAM
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[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
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