Improves parameter names and fixes #40. (#181)

cartographer_ros/cartographer_ros/configuration_files_test.cc

@@ -42,7 +42,8 @@ TEST_P(ConfigurationFilesTest, ValidateNodeOptions) {
 
 INSTANTIATE_TEST_CASE_P(ValidateAllNodeOptions, ConfigurationFilesTest,
                         ::testing::Values("backpack_2d.lua", "backpack_3d.lua",
-                                          "pr2.lua", "revo_lds.lua"));
+                                          "pr2.lua", "revo_lds.lua",
+                                          "taurob_tracker.lua"));
 
 }  // namespace
 }  // namespace cartographer_ros

cartographer_ros/cartographer_ros/node_main.cc

@@ -135,7 +135,7 @@ class Node {
   ::ros::NodeHandle node_handle_;
   ::ros::Subscriber imu_subscriber_;
   ::ros::Subscriber horizontal_laser_scan_subscriber_;
-  std::vector<::ros::Subscriber> laser_subscribers_3d_;
+  std::vector<::ros::Subscriber> point_cloud_subscribers_;
   ::ros::Subscriber odometry_subscriber_;
   ::ros::Publisher submap_list_publisher_;
   ::ros::ServiceServer submap_query_server_;
@@ -176,7 +176,7 @@ void Node::Initialize() {
   carto::common::MutexLocker lock(&mutex_);
 
   // For 2D SLAM, subscribe to exactly one horizontal laser.
-  if (options_.use_horizontal_laser) {
+  if (options_.use_laser_scan) {
     horizontal_laser_scan_subscriber_ = node_handle_.subscribe(
         kLaserScanTopic, kInfiniteSubscriberQueueSize,
         boost::function<void(const sensor_msgs::LaserScan::ConstPtr&)>(
@@ -185,7 +185,7 @@ void Node::Initialize() {
             }));
     expected_sensor_ids_.insert(kLaserScanTopic);
   }
-  if (options_.use_horizontal_multi_echo_laser) {
+  if (options_.use_multi_echo_laser_scan) {
     horizontal_laser_scan_subscriber_ = node_handle_.subscribe(
         kMultiEchoLaserScanTopic, kInfiniteSubscriberQueueSize,
         boost::function<void(const sensor_msgs::MultiEchoLaserScan::ConstPtr&)>(
@@ -196,14 +196,14 @@ void Node::Initialize() {
     expected_sensor_ids_.insert(kMultiEchoLaserScanTopic);
   }
 
-  // For 3D SLAM, subscribe to all 3D lasers.
+  // For 3D SLAM, subscribe to all point clouds topics.
-  if (options_.num_lasers_3d > 0) {
+  if (options_.num_point_clouds > 0) {
-    for (int i = 0; i < options_.num_lasers_3d; ++i) {
+    for (int i = 0; i < options_.num_point_clouds; ++i) {
       string topic = kPointCloud2Topic;
-      if (options_.num_lasers_3d > 1) {
+      if (options_.num_point_clouds > 1) {
         topic += "_" + std::to_string(i + 1);
       }
-      laser_subscribers_3d_.push_back(node_handle_.subscribe(
+      point_cloud_subscribers_.push_back(node_handle_.subscribe(
           topic, kInfiniteSubscriberQueueSize,
           boost::function<void(const sensor_msgs::PointCloud2::ConstPtr&)>(
               [this, topic](const sensor_msgs::PointCloud2::ConstPtr& msg) {
@@ -228,7 +228,7 @@ void Node::Initialize() {
     expected_sensor_ids_.insert(kImuTopic);
   }
 
-  if (options_.use_odometry_data) {
+  if (options_.use_odometry) {
     odometry_subscriber_ = node_handle_.subscribe(
         kOdometryTopic, kInfiniteSubscriberQueueSize,
         boost::function<void(const nav_msgs::Odometry::ConstPtr&)>(

cartographer_ros/cartographer_ros/node_options.cc

@@ -35,14 +35,12 @@ NodeOptions CreateNodeOptions(
   options.odom_frame = lua_parameter_dictionary->GetString("odom_frame");
   options.provide_odom_frame =
       lua_parameter_dictionary->GetBool("provide_odom_frame");
-  options.use_odometry_data =
+  options.use_odometry = lua_parameter_dictionary->GetBool("use_odometry");
-      lua_parameter_dictionary->GetBool("use_odometry_data");
+  options.use_laser_scan = lua_parameter_dictionary->GetBool("use_laser_scan");
-  options.use_horizontal_laser =
+  options.use_multi_echo_laser_scan =
-      lua_parameter_dictionary->GetBool("use_horizontal_laser");
+      lua_parameter_dictionary->GetBool("use_multi_echo_laser_scan");
-  options.use_horizontal_multi_echo_laser =
+  options.num_point_clouds =
-      lua_parameter_dictionary->GetBool("use_horizontal_multi_echo_laser");
+      lua_parameter_dictionary->GetNonNegativeInt("num_point_clouds");
-  options.num_lasers_3d =
-      lua_parameter_dictionary->GetNonNegativeInt("num_lasers_3d");
   options.lookup_transform_timeout_sec =
       lua_parameter_dictionary->GetDouble("lookup_transform_timeout_sec");
   options.submap_publish_period_sec =
@@ -50,18 +48,17 @@ NodeOptions CreateNodeOptions(
   options.pose_publish_period_sec =
       lua_parameter_dictionary->GetDouble("pose_publish_period_sec");
 
-  CHECK_EQ(options.use_horizontal_laser +
+  CHECK_EQ(options.use_laser_scan + options.use_multi_echo_laser_scan +
-               options.use_horizontal_multi_echo_laser +
+               (options.num_point_clouds > 0),
-               (options.num_lasers_3d > 0),
            1)
-      << "Configuration error: 'use_horizontal_laser', "
+      << "Configuration error: 'use_laser_scan', "
-         "'use_horizontal_multi_echo_laser' and 'num_lasers_3d' are "
+         "'use_multi_echo_laser_scan' and 'num_point_clouds' are "
          "mutually exclusive, but one is required.";
-  CHECK_EQ(
+
-      options.map_builder_options.use_trajectory_builder_2d(),
+  if (options.map_builder_options.use_trajectory_builder_2d()) {
-      options.use_horizontal_laser || options.use_horizontal_multi_echo_laser);
+    // Using point clouds is only supported in 3D.
-  CHECK_EQ(options.map_builder_options.use_trajectory_builder_3d(),
+    CHECK_EQ(options.num_point_clouds, 0);
-           options.num_lasers_3d > 0);
+  }
   return options;
 }
 

cartographer_ros/cartographer_ros/node_options.h

@@ -34,10 +34,10 @@ struct NodeOptions {
   string published_frame;
   string odom_frame;
   bool provide_odom_frame;
-  bool use_odometry_data;
+  bool use_odometry;
-  bool use_horizontal_laser;
+  bool use_laser_scan;
-  bool use_horizontal_multi_echo_laser;
+  bool use_multi_echo_laser_scan;
-  int num_lasers_3d;
+  int num_point_clouds;
   double lookup_transform_timeout_sec;
   double submap_publish_period_sec;
   double pose_publish_period_sec;

cartographer_ros/configuration_files/backpack_2d.lua

@@ -21,10 +21,10 @@ options = {
   published_frame = "base_link",
   odom_frame = "odom",
   provide_odom_frame = true,
-  use_odometry_data = false,
+  use_odometry = false,
-  use_horizontal_laser = false,
+  use_laser_scan = false,
-  use_horizontal_multi_echo_laser = true,
+  use_multi_echo_laser_scan = true,
-  num_lasers_3d = 0,
+  num_point_clouds = 0,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,

cartographer_ros/configuration_files/backpack_3d.lua

@@ -21,10 +21,10 @@ options = {
   published_frame = "base_link",
   odom_frame = "odom",
   provide_odom_frame = true,
-  use_odometry_data = false,
+  use_odometry = false,
-  use_horizontal_laser = false,
+  use_laser_scan = false,
-  use_horizontal_multi_echo_laser = false,
+  use_multi_echo_laser_scan = false,
-  num_lasers_3d = 2,
+  num_point_clouds = 2,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,

cartographer_ros/configuration_files/pr2.lua

@@ -21,10 +21,10 @@ options = {
   published_frame = "base_footprint",
   odom_frame = "odom",
   provide_odom_frame = true,
-  use_odometry_data = false,
+  use_odometry = false,
-  use_horizontal_laser = true,
+  use_laser_scan = true,
-  use_horizontal_multi_echo_laser = false,
+  use_multi_echo_laser_scan = false,
-  num_lasers_3d = 0,
+  num_point_clouds = 0,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,

cartographer_ros/configuration_files/revo_lds.lua

@@ -21,10 +21,10 @@ options = {
   published_frame = "horizontal_laser_link",
   odom_frame = "odom",
   provide_odom_frame = true,
-  use_odometry_data = false,
+  use_odometry = false,
-  use_horizontal_laser = true,
+  use_laser_scan = true,
-  use_horizontal_multi_echo_laser = false,
+  use_multi_echo_laser_scan = false,
-  num_lasers_3d = 0,
+  num_point_clouds = 0,
   lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,

cartographer_ros/configuration_files/taurob_tracker.lua

@@ -0,0 +1,49 @@
+-- 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.
+
+include "map_builder.lua"
+
+options = {
+  map_builder = MAP_BUILDER,
+  map_frame = "map",
+  tracking_frame = "base_link",
+  published_frame = "odom",
+  odom_frame = "odom",
+  provide_odom_frame = false,
+  use_odometry = true,
+  use_laser_scan = true,
+  use_multi_echo_laser_scan = false,
+  num_point_clouds = 0,
+  lookup_transform_timeout_sec = 0.2,
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+}
+
+TRAJECTORY_BUILDER_3D.scans_per_accumulation = 90
+TRAJECTORY_BUILDER_3D.laser_min_range = 0.5
+TRAJECTORY_BUILDER_3D.laser_max_range = 20.
+
+MAP_BUILDER.use_trajectory_builder_3d = true
+MAP_BUILDER.num_background_threads = 7
+MAP_BUILDER.sparse_pose_graph.optimization_problem.huber_scale = 5e2
+MAP_BUILDER.sparse_pose_graph.optimize_every_n_scans = 320
+MAP_BUILDER.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
+MAP_BUILDER.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
+-- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
+-- constraints.
+MAP_BUILDER.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
+MAP_BUILDER.sparse_pose_graph.constraint_builder.min_score = 0.62
+MAP_BUILDER.sparse_pose_graph.constraint_builder.log_matches = true
+
+return options

cartographer_ros/launch/demo_taurob_tracker.launch

@@ -0,0 +1,26 @@
+<!--
+  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.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="true" />
+
+  <include file="$(find cartographer_ros)/launch/taurob_tracker.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
+  <node name="playbag" pkg="rosbag" type="play"
+      args="--clock $(arg bag_filename)" />
+</launch>

cartographer_ros/launch/taurob_tracker.launch

@@ -0,0 +1,26 @@
+<!--
+  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.
+-->
+
+<launch>
+  <node name="cartographer_node" pkg="cartographer_ros"
+      type="cartographer_node" args="
+          -configuration_directory $(find cartographer_ros)/configuration_files
+          -configuration_basename taurob_tracker.lua"
+      output="screen">
+    <remap from="scan" to="/spin_laser/scan" />
+    <remap from="imu" to="/imu/data" />
+  </node>
+</launch>

docs/source/configuration.rst

@@ -51,21 +51,21 @@ provide_odom_frame
   If enabled, the local, non-loop-closed, continuous pose will be published as
   the *odom_frame* in the *map_frame*.
 
-use_odometry_data
+use_odometry
   If enabled, subscribes to `nav_msgs/Odometry`_ on the topic "odom". Odometry
   must be provided in this case, and the information will be included in SLAM.
 
-use_horizontal_laser
+use_laser_scan
   If enabled, the node subscribes to `sensor_msgs/LaserScan`_ on the "scan"
-  topic. If 2D SLAM is used, either this or *use_horizontal_multi_echo_laser*
+  topic. If 2D SLAM is used, either this or *use_multi_echo_laser_scan*
   must be enabled.
 
-use_horizontal_multi_echo_laser
+use_multi_echo_laser_scan
   If enabled, the node subscribes to  `sensor_msgs/MultiEchoLaserScan`_ on the
-  "echoes" topic. If 2D SLAM is used, either this or *use_horizontal_laser*
+  "echoes" topic. If 2D SLAM is used, either this or *use_laser_scan*
   must be enabled.
 
-num_lasers_3d
+num_point_clouds
   Number of 3D lasers to subscribe to. Must be a positive value if and only if
   using 3D SLAM. Subscribes to `sensor_msgs/PointCloud2`_ on the "points2"
   topic for one laser, or topics "points2_1", "points2_2", etc for multiple

docs/source/index.rst

@@ -108,4 +108,10 @@ the demo:
     # Launch the PR2 demo.
     roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
 
+    # Download the Taurob Tracker example bag.
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
+
+    # Launch the Taurob Tracker demo.
+    roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag
+
 The launch files will bring up ``roscore`` and ``rviz`` automatically.

docs/source/ros_api.rst

@@ -38,19 +38,20 @@ The following range data topics are mutually exclusive. At least one source of
 range data is required.
 
 scan (`sensor_msgs/LaserScan`_)
-  Only supported in 2D. If *use_horizontal_laser* is enabled in the
+  Supported in 2D and 3D (e.g. using an axially rotating planar laser scanner).
-  :doc:`configuration`, this topic will be used as input for SLAM.
+  If *use_laser_scan* is enabled in the :doc:`configuration`, this topic will
+  be used as input for SLAM.
 
 echoes (`sensor_msgs/MultiEchoLaserScan`_)
-  Only supported in 2D. If *use_horizontal_multi_echo_laser* is enabled in the
+  Supported in 2D and 3D (e.g. using an axially rotating planar laser scanner).
-  :doc:`configuration`, this topic will be used as input for SLAM. Only the
+  If *use_multi_echo_laser_scan* is enabled in the :doc:`configuration`, this
-  first echo is used.
+  topic will be used as input for SLAM. Only the first echo is used.
 
 points2 (`sensor_msgs/PointCloud2`_)
-  Only supported in 3D. If *num_lasers_3d* is set to 1 in the
+  Only supported in 3D. If *num_point_clouds* is set to 1 in the
   :doc:`configuration`, this topic will be used as input for SLAM. If
-  *num_lasers_3d* is greater than 1, multiple numbered points2 topics (i.e.
+  *num_point_clouds* is greater than 1, multiple numbered points2 topics (i.e.
-  points2_1, points2_2, points2_3, ...  up to and including *num_lasers_3d*)
+  points2_1, points2_2, points2_3, ...  up to and including *num_point_clouds*)
   will be used as inputs for SLAM.
 
 The following additional sensor data topics may also be provided.
@@ -60,7 +61,7 @@ imu (`sensor_msgs/Imu`_)
   input for SLAM.
 
 odom (`nav_msgs/Odometry`_)
-  Supported in 2D (optional) and 3D (optional). If *use_odometry_data* is
+  Supported in 2D (optional) and 3D (optional). If *use_odometry* is
   enabled in the :doc:`configuration`, this topic will be used as input for
   SLAM.