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Add support for 2D SLAM with a depth camera. (#54) 

This changes the URDF and timeout for the TurtleBot configuration,
and adds a Dockerfile with everything that is needed to run 2D SLAM
with a depth camera. Verified to work on a TurtleBot 2 with an
ASUS Xtion.

And tiny style fixes.
master
Wolfgang Hess 2016-09-13 17:33:41 +02:00 committed by GitHub
parent 70f40c6ef2
commit 0e26c9feac
6 changed files with 93 additions and 55 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
cartographer_ros/configuration_files/turtlebot.lua
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@ -28,7 +28,7 @@ options = {
horizontal_laser_max_range = 30., horizontal_laser_max_range = 30.,
horizontal_laser_missing_echo_ray_length = 5., horizontal_laser_missing_echo_ray_length = 5.,
num_lasers_3d = 0, num_lasers_3d = 0,
lookup_transform_timeout_sec = 0.01, lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3, submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3, pose_publish_period_sec = 5e-3,
} }

2
cartographer_ros/package.xml
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@ -74,6 +74,6 @@
<test_depend>rosunit</test_depend> <test_depend>rosunit</test_depend>
<export> <export>
<rviz plugin="${prefix}/rviz_plugin_description.xml"/> <rviz plugin="${prefix}/rviz_plugin_description.xml" />
</export> </export>
</package> </package>

42
cartographer_ros/urdf/backpack_2d.urdf
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@ -16,62 +16,62 @@
<robot name="cartographer_ros"> <robot name="cartographer_ros">
<material name="orange"> <material name="orange">
<color rgba="1.0 0.5 0.2 1"/> <color rgba="1.0 0.5 0.2 1" />
</material> </material>
<material name="gray"> <material name="gray">
<color rgba="0.2 0.2 0.2 1"/> <color rgba="0.2 0.2 0.2 1" />
</material> </material>
<material name="green"> <material name="green">
<color rgba="0.2 0.4 0.2 1"/> <color rgba="0.2 0.4 0.2 1" />
</material> </material>
<link name="imu_link"> <link name="imu_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 0.0" />
<geometry> <geometry>
<box size="0.06 0.04 0.02"/> <box size="0.06 0.04 0.02" />
</geometry> </geometry>
<material name="orange"/> <material name="orange" />
</visual> </visual>
</link> </link>
<link name="horizontal_laser_link"> <link name="horizontal_laser_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 0.0" />
<geometry> <geometry>
<cylinder length="0.09" radius="0.03"/> <cylinder length="0.09" radius="0.03" />
</geometry> </geometry>
<material name="gray"/> <material name="gray" />
</visual> </visual>
</link> </link>
<link name="vertical_laser_link"> <link name="vertical_laser_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 0.0" />
<geometry> <geometry>
<cylinder length="0.09" radius="0.03"/> <cylinder length="0.09" radius="0.03" />
</geometry> </geometry>
<material name="gray"/> <material name="gray" />
</visual> </visual>
</link> </link>
<link name="base_link" /> <link name="base_link" />
<joint name="imu_link_joint" type="fixed"> <joint name="imu_link_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link" />
<child link="imu_link"/> <child link="imu_link" />
<origin xyz="0 0 0" rpy="0 0 3.1416"/> <origin xyz="0 0 0" rpy="0 0 3.1416" />
</joint> </joint>
<joint name="horizontal_laser_link_joint" type="fixed"> <joint name="horizontal_laser_link_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link" />
<child link="horizontal_laser_link"/> <child link="horizontal_laser_link" />
<origin xyz="0.1251 0.0937 0.05262"/> <origin xyz="0.1251 0.0937 0.05262" />
</joint> </joint>
<joint name="vertical_laser_link_joint" type="fixed"> <joint name="vertical_laser_link_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link" />
<child link="vertical_laser_link"/> <child link="vertical_laser_link" />
<origin rpy="0.0 -1.57 3.14" xyz="0.1251 0.0937 0.17772"/> <origin rpy="0.0 -1.57 3.14" xyz="0.1251 0.0937 0.17772" />
</joint> </joint>
</robot> </robot>

40
cartographer_ros/urdf/backpack_3d.urdf
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@ -16,62 +16,62 @@
<robot name="cartographer_ros"> <robot name="cartographer_ros">
<material name="orange"> <material name="orange">
<color rgba="1.0 0.5 0.2 1"/> <color rgba="1.0 0.5 0.2 1" />
</material> </material>
<material name="gray"> <material name="gray">
<color rgba="0.2 0.2 0.2 1"/> <color rgba="0.2 0.2 0.2 1" />
</material> </material>
<material name="green"> <material name="green">
<color rgba="0.2 0.4 0.2 1"/> <color rgba="0.2 0.4 0.2 1" />
</material> </material>
<link name="imu_link"> <link name="imu_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 0.0" />
<geometry> <geometry>
<box size="0.06 0.04 0.02"/> <box size="0.06 0.04 0.02" />
</geometry> </geometry>
<material name="orange"/> <material name="orange" />
</visual> </visual>
</link> </link>
<link name="horizontal_vlp16_link"> <link name="horizontal_vlp16_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 0.0" />
<geometry> <geometry>
<cylinder length="0.07" radius="0.05"/> <cylinder length="0.07" radius="0.05" />
</geometry> </geometry>
<material name="gray"/> <material name="gray" />
</visual> </visual>
</link> </link>
<link name="vertical_vlp16_link"> <link name="vertical_vlp16_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 0.0" />
<geometry> <geometry>
<cylinder length="0.07" radius="0.05"/> <cylinder length="0.07" radius="0.05" />
</geometry> </geometry>
<material name="gray"/> <material name="gray" />
</visual> </visual>
</link> </link>
<link name="base_link" /> <link name="base_link" />
<joint name="imu_link_joint" type="fixed"> <joint name="imu_link_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link" />
<child link="imu_link"/> <child link="imu_link" />
<origin xyz="0 0 0" rpy="3.1416 0 0"/> <origin xyz="0 0 0" rpy="3.1416 0 0" />
</joint> </joint>
<joint name="horizontal_vlp16_link_joint" type="fixed"> <joint name="horizontal_vlp16_link_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link" />
<child link="horizontal_vlp16_link"/> <child link="horizontal_vlp16_link" />
<origin xyz="0.01 0. 0.19" rpy="0. -0.1745 3.1416" /> <origin xyz="0.01 0. 0.19" rpy="0. -0.1745 3.1416" />
</joint> </joint>
<joint name="vertical_vlp16_link_joint" type="fixed"> <joint name="vertical_vlp16_link_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link" />
<child link="vertical_vlp16_link"/> <child link="vertical_vlp16_link" />
<origin xyz="0.19 0. 0.04" rpy="0. 1.3963 0."/> <origin xyz="0.19 0. 0.04" rpy="0. 1.3963 0." />
</joint> </joint>
</robot> </robot>

39
cartographer_ros/urdf/turtlebot.urdf
View File

@ -16,38 +16,53 @@
<robot name="cartographer_ros"> <robot name="cartographer_ros">
<material name="orange"> <material name="orange">
<color rgba="1.0 0.5 0.2 1"/> <color rgba="1.0 0.5 0.2 1" />
</material> </material>
<material name="gray"> <material name="gray">
<color rgba="0.2 0.2 0.2 1"/> <color rgba="0.2 0.2 0.2 1" />
</material> </material>
<material name="green"> <material name="green">
<color rgba="0.2 0.4 0.2 1"/> <color rgba="0.2 0.4 0.2 1" />
</material> </material>
<link name="horizontal_laser_link"> <link name="horizontal_laser_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 0.0" />
<geometry> <geometry>
<cylinder length="0.09" radius="0.03"/> <cylinder length="0.09" radius="0.03" />
</geometry> </geometry>
<material name="gray"/> <material name="gray" />
</visual> </visual>
</link> </link>
<link name="base_link"> <link name="base_link">
<visual> <visual>
<origin xyz="0. 0. 0."/> <origin xyz="0. 0. 0." />
<geometry> <geometry>
<box size="0.03 0.4 0.8"/> <box size="0.03 0.4 0.8" />
</geometry> </geometry>
<material name="green"/> <material name="green" />
</visual> </visual>
</link> </link>
<link name="camera_link" />
<link name="base_footprint" />
<joint name="horizontal_laser_link_joint" type="fixed"> <joint name="horizontal_laser_link_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link" />
<child link="horizontal_laser_link"/> <child link="horizontal_laser_link" />
<origin xyz="0. 0. 0.6"/> <origin xyz="0. 0. 0.6" />
</joint>
<joint name="camera_link_joint" type="fixed">
<parent link="base_link" />
<child link="camera_link" />
<origin xyz="0.15 0. 0.6" />
</joint>
<joint name="base_link_base_footprint_joint" type="fixed">
<parent link="base_footprint" />
<child link="base_link" />
<origin xyz="0. 0. 0." />
</joint> </joint>
</robot> </robot>

23
cartographer_turtlebot/Dockerfile Normal file
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@ -0,0 +1,23 @@
# Copyright 2016 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
FROM cartographer_ros_image
RUN apt-get update && apt-get install -y \
ros-indigo-depthimage-to-laserscan \
ros-indigo-kobuki \
ros-indigo-kobuki-core \
ros-indigo-openni2-launch \
ros-indigo-turtlebot-bringup \
tmux \
&& rm -rf /var/lib/apt/lists/*