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LaMa ROS - Alternative Localization and Mapping for ROS.

https://github.com/iris-ua/iris_lama_ros

Build Melodic

Developed and maintained by Eurico Pedrosa, University of Aveiro (C) 2019.

Overview

ROS integration of LaMa, a Localization and Mapping package from the Intelligent Robotics and Systems (IRIS) Laboratory, University of Aveiro. It provides 2D Localization and SLAM. It works great on a TurtleBot2 with a Raspberry Pi 3 Model B+ and an Hokuyo (Rapid URG).

Build

To build LaMa ROS, clone it from GitHub and use catkin to build.

mkdir src
cd src
git clone https://github.com/iris-ua/iris_lama
git clone https://github.com/iris-ua/iris_lama_ros
cd ..
catkin config --extend /opt/ros/melodic
catkin build

The build was tested in Ubuntu 18.04 with ROS melodic. It will not build with catkin_make or catkin_make_isolated.

SLAM nodes

To create a map using Online SLAM execute

rosrun iris_lama_ros slam2d_ros scan_topic:=base_scan

and to create a map using Particle Filter SLAM execute

rosrun iris_lama_ros pf_slam2d_ros scan_topic:=base_scan

Both nodes will publish to expected topics such as /map and /tf.

Offline Mapping (rosbag)

If you want to obtain a map from a rosbag and you want to save time (a lot), you can let iris_lama_ros "play" the rosbag for you.

roslaunch iris_lama_ros slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag

or

roslaunch iris_lama_ros pf_slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag

Parameters

  • ~global_frame_id: The frame attached to the map (default: "map").
  • ~odom_frame_id: The frame attached to the odometry system (default: "odom").
  • ~base_frame_id: The frame attached to the mobile base (default: "base_link").
  • ~scan_topic: Laser scan topic to subscribe (default: "/scan").
  • ~initial_pos_x: Initial x position (default: 0 meters).
  • ~initial_pos_y: Initial y position (default: 0 meters).
  • ~initial_pos_a: Initial rotation (or angle) (default: 0 rad).
  • ~d_thresh: Traveled distance to accumulate before updating (default: 0.01 meters).
  • ~a_thresh: Angular motion to accumulate before updating (default: 0.25 rads).
  • ~l2_max: Maximum distance to use in the dynamic Euclidean distance map (default: 0.5 meters).
  • ~resolution: Resolution of the grid maps (default: 0.05 meters).
  • ~patch_size: Length of a patch (default: 32 cells).
  • ~strategy: Scan matching optimization strategy, GaussNewton ("gm") or Levenberg Marquard ("lm") (default: "gn").
  • ~max_iterations: Maximum number of interations performed by the optimizer (default: 100)
  • ~use_compression: Should the maps be compressed (default: false).
  • ~compression_algorithm: Compression algorithm to use, lz4 or zstd (default: "lz4").
  • ~cache_size: Size of the LRU used during online data compression (default: 100).
  • ~mrange: Maximum laser scan range (default: 16 meters).
  • ~truncate: Truncate the laser scan range from start to "middle" (default: 0.0 meters, 0.0 means no truncation).
  • ~truncate_ray: Truncate the laser scan range (or ray) from "middle" to end (default: 0.0 meters, 0.0 means no truncation).
  • ~map_publish_period: How long between updates to the map (default: 5 seconds).

Particle Filter SLAM only:

  • ~d_thresh: Traveled distance to accumulate before updating (default: 0.5 meters).
  • ~particles: Number of particles to use (default: 30).
  • ~seed: RNG seed value, use 0 for a random seed from device (default: 0)
  • ~threads: Number of working threads, -1 means disabled and 0 will expand to the available number of cores (default: -1).
  • ~sigma: Measurement variance (default: 0.05).
  • ~lgain: Gain value for smoothing the particles likelihood (default: 3.0).
  • ~srr: Odometry error in rotation as a function of rotation (default: 0.1).
  • ~str: Odometry error in rotation as a function of translation (default: 0.2).
  • ~stt: Odometry error in traslation as a function of translation (default: 0.1).
  • ~srt: Odometry error in translation as a funciton of rotation (default: 0.1).

Localization node

This node requires the existence of the /static_map service to load the map. To run the localization just execute

rosrun iris_lama_ros loc2d_ros scan:=base_scan

Please use rviz to set the initial pose. Global localization is not yet implemented.

Services

  • /request_nomotion_update: Called to trigger an update without moving the robot (no-motion update)
  • /global_localization: Called to trigger a global localization procedure.

Parameters

  • ~global_frame_id: The frame attached to the map (default: "map").
  • ~odom_frame_id: The frame attached to the odometry system (default: "odometry").
  • ~base_frame_id: The frame attached to the mobile base (default: "base_link").
  • ~scan_topic: Laser scan topic to subscribe (default: "/scan").
  • ~initial_pos_x: Initial x position (default: 0 meters).
  • ~initial_pos_y: Initial y position (default: 0 meters).
  • ~initial_pos_a: Initial rotation (or angle) (default: 0 rad).
  • ~d_thresh: Traveled distance to accumulate before updating (default: 0.01 meters).
  • ~a_thresh: Angular motion to accumulate before updating (default: 0.2 rads).
  • ~l2_max: Maximum distance to use in the dynamic Euclidean distance map (default: 0.5 meters).
  • ~strategy: Scan matching optimization strategy, GaussNewton ("gm") or Levenberg Marquard ("lm") (default: "gn").
  • ~patch_size: Length of a patch (default: 32 cells).
  • ~use_map_topic: True to subscribe to the /map topic instead of requesting the map through the "static_map" service (default: false).
  • ~first_map_only: True to use only the first map ever received (default: false).
  • ~use_pose_on_new_map: True to use the current algorithm pose when the map changes (default: false).
  • ~force_update_on_initial_pose: True to trigger a no-motion update when an initial pose is received (default: false)
  • ~gloc_particles: Number of particles used to find the best global localization (default: 3000)
  • ~gloc_thresh: Value at which a global localization particle is considered viable. (default: 0.15 RMSE)
  • ~gloc_iters: Maximum number of iterations executed by the global localization procedure (default: 20)