Adds offline SLAM; build maps as fast as possible. (#201)

cartographer_ros/cartographer_ros/CMakeLists.txt

@@ -183,3 +183,12 @@ install(TARGETS cartographer_assets_writer
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+google_binary(cartographer_offline_node
+  USES_CARTOGRAPHER
+  SRCS
+    offline_node_main.cc
+  DEPENDS
+    node
+    ros_log_sink
+    urdf_reader
+)

cartographer_ros/cartographer_ros/node.cc

@@ -47,12 +47,6 @@ using carto::transform::Rigid3d;
 
 constexpr int kLatestOnlyPublisherQueueSize = 1;
 
-// Default topic names; expected to be remapped as needed.
-constexpr char kOccupancyGridTopic[] = "map";
-constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
-constexpr char kSubmapListTopic[] = "submap_list";
-constexpr char kSubmapQueryServiceName[] = "submap_query";
-
 Node::Node(const NodeOptions& options, tf2_ros::Buffer* const tf_buffer)
     : options_(options),
       map_builder_bridge_(options_, tf_buffer) {}
@@ -96,8 +90,6 @@ void Node::Initialize() {
       &Node::PublishTrajectoryStates, this));
 }
 
-void Node::Spin() { ::ros::spin(); }
-
 ::ros::NodeHandle* Node::node_handle() { return &node_handle_; }
 
 MapBuilderBridge* Node::map_builder_bridge() { return &map_builder_bridge_; }

cartographer_ros/cartographer_ros/node.h

@@ -33,6 +33,18 @@
 
 namespace cartographer_ros {
 
+// Default topic names; expected to be remapped as needed.
+constexpr char kLaserScanTopic[] = "scan";
+constexpr char kMultiEchoLaserScanTopic[] = "echoes";
+constexpr char kPointCloud2Topic[] = "points2";
+constexpr char kImuTopic[] = "imu";
+constexpr char kOdometryTopic[] = "odom";
+constexpr char kFinishTrajectoryServiceName[] = "finish_trajectory";
+constexpr char kOccupancyGridTopic[] = "map";
+constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
+constexpr char kSubmapListTopic[] = "submap_list";
+constexpr char kSubmapQueryServiceName[] = "submap_query";
+
 // Wires up ROS topics to SLAM.
 class Node {
  public:
@@ -43,7 +55,6 @@ class Node {
   Node& operator=(const Node&) = delete;
 
   void Initialize();
-  void Spin();
 
   ::ros::NodeHandle* node_handle();
   MapBuilderBridge* map_builder_bridge();

cartographer_ros/cartographer_ros/node_main.cc

@@ -38,14 +38,6 @@ namespace {
 
 constexpr int kInfiniteSubscriberQueueSize = 0;
 
-// Default topic names; expected to be remapped as needed.
-constexpr char kLaserScanTopic[] = "scan";
-constexpr char kMultiEchoLaserScanTopic[] = "echoes";
-constexpr char kPointCloud2Topic[] = "points2";
-constexpr char kImuTopic[] = "imu";
-constexpr char kOdometryTopic[] = "odom";
-constexpr char kFinishTrajectoryServiceName[] = "finish_trajectory";
-
 void Run() {
   auto file_resolver = cartographer::common::make_unique<
       cartographer::common::ConfigurationFileResolver>(
@@ -60,6 +52,7 @@ void Run() {
   tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
   tf2_ros::TransformListener tf(tf_buffer);
   Node node(options, &tf_buffer);
+  node.Initialize();
 
   int trajectory_id = -1;
   std::unordered_set<string> expected_sensor_ids;
@@ -162,8 +155,7 @@ void Run() {
                 return true;
               }));
 
-  node.Initialize();
+  ::ros::spin();
-  node.Spin();
 
   node.map_builder_bridge()->FinishTrajectory(trajectory_id);
 }

cartographer_ros/cartographer_ros/offline_node_main.cc

@@ -0,0 +1,188 @@
+/*
+ * 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 <string>
+#include <vector>
+
+#include "cartographer/common/configuration_file_resolver.h"
+#include "cartographer/common/lua_parameter_dictionary.h"
+#include "cartographer/common/make_unique.h"
+#include "cartographer/common/port.h"
+#include "cartographer_ros/node.h"
+#include "cartographer_ros/ros_log_sink.h"
+#include "cartographer_ros/urdf_reader.h"
+#include "ros/callback_queue.h"
+#include "rosbag/bag.h"
+#include "rosbag/view.h"
+#include "rosgraph_msgs/Clock.h"
+#include "urdf/model.h"
+
+DEFINE_string(configuration_directory, "",
+              "First directory in which configuration files are searched, "
+              "second is always the Cartographer installation to allow "
+              "including files from there.");
+DEFINE_string(configuration_basename, "",
+              "Basename, i.e. not containing any directory prefix, of the "
+              "configuration file.");
+// TODO(damonkohler): Support multi-trajectory.
+DEFINE_string(bag_filename, "", "Bag to process.");
+DEFINE_string(
+    urdf_filename, "",
+    "URDF file that contains static links for your sensor configuration.");
+
+namespace cartographer_ros {
+namespace {
+
+constexpr int kLatestOnlyPublisherQueueSize = 1;
+constexpr char kClockTopic[] = "clock";
+
+void Run() {
+  // TODO(damonkohler): Pull out this common code across binaries.
+  auto file_resolver = cartographer::common::make_unique<
+      cartographer::common::ConfigurationFileResolver>(
+      std::vector<string>{FLAGS_configuration_directory});
+  const string code =
+      file_resolver->GetFileContentOrDie(FLAGS_configuration_basename);
+  cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
+      code, std::move(file_resolver));
+
+  tf2_ros::Buffer tf_buffer;
+  tf_buffer.setUsingDedicatedThread(true);
+  ReadStaticTransformsFromUrdf(FLAGS_urdf_filename, &tf_buffer);
+  const auto options = CreateNodeOptions(&lua_parameter_dictionary);
+  Node node(options, &tf_buffer);
+  node.Initialize();
+
+  std::unordered_set<string> expected_sensor_ids;
+
+  // For 2D SLAM, subscribe to exactly one horizontal laser.
+  if (options.use_laser_scan) {
+    expected_sensor_ids.insert(
+        node.node_handle()->resolveName(kLaserScanTopic, false /* remap */));
+  }
+  if (options.use_multi_echo_laser_scan) {
+    expected_sensor_ids.insert(node.node_handle()->resolveName(
+        kMultiEchoLaserScanTopic, false /* remap */));
+  }
+
+  // For 3D SLAM, subscribe to all point clouds topics.
+  if (options.num_point_clouds > 0) {
+    for (int i = 0; i < options.num_point_clouds; ++i) {
+      string topic = kPointCloud2Topic;
+      if (options.num_point_clouds > 1) {
+        topic += "_" + std::to_string(i + 1);
+      }
+      expected_sensor_ids.insert(
+          node.node_handle()->resolveName(topic, false /* remap */));
+    }
+  }
+
+  // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
+  // required.
+  if (options.map_builder_options.use_trajectory_builder_3d() ||
+      (options.map_builder_options.use_trajectory_builder_2d() &&
+       options.map_builder_options.trajectory_builder_2d_options()
+           .use_imu_data())) {
+    expected_sensor_ids.insert(
+        node.node_handle()->resolveName(kImuTopic, false /* remap */));
+  }
+
+  // For both 2D and 3D SLAM, odometry is optional.
+  if (options.use_odometry) {
+    expected_sensor_ids.insert(
+        node.node_handle()->resolveName(kOdometryTopic, false /* remap */));
+  }
+
+  // TODO(damonkohler): Support multi-trajectory.
+  const int trajectory_id = node.map_builder_bridge()->AddTrajectory(
+      expected_sensor_ids, options.tracking_frame);
+
+  ::ros::Publisher clock_publisher =
+      node.node_handle()->advertise<rosgraph_msgs::Clock>(
+          kClockTopic, kLatestOnlyPublisherQueueSize);
+
+  rosbag::Bag bag;
+  bag.open(FLAGS_bag_filename, rosbag::bagmode::Read);
+  for (const rosbag::MessageInstance& msg : rosbag::View(bag)) {
+    if (!::ros::ok()) {
+      break;
+    }
+
+    const string& topic = node.node_handle()->resolveName(msg.getTopic());
+    if (expected_sensor_ids.count(
+            node.node_handle()->resolveName(msg.getTopic())) == 0) {
+      continue;
+    }
+    if (msg.isType<sensor_msgs::LaserScan>()) {
+      node.map_builder_bridge()
+          ->sensor_bridge(trajectory_id)
+          ->HandleLaserScanMessage(topic,
+                                   msg.instantiate<sensor_msgs::LaserScan>());
+    } else if (msg.isType<sensor_msgs::MultiEchoLaserScan>()) {
+      node.map_builder_bridge()
+          ->sensor_bridge(trajectory_id)
+          ->HandleMultiEchoLaserScanMessage(
+              topic, msg.instantiate<sensor_msgs::MultiEchoLaserScan>());
+    } else if (msg.isType<sensor_msgs::PointCloud2>()) {
+      node.map_builder_bridge()
+          ->sensor_bridge(trajectory_id)
+          ->HandlePointCloud2Message(
+              topic, msg.instantiate<sensor_msgs::PointCloud2>());
+    } else if (msg.isType<sensor_msgs::Imu>()) {
+      node.map_builder_bridge()
+          ->sensor_bridge(trajectory_id)
+          ->HandleImuMessage(topic, msg.instantiate<sensor_msgs::Imu>());
+    } else if (msg.isType<nav_msgs::Odometry>()) {
+      node.map_builder_bridge()
+          ->sensor_bridge(trajectory_id)
+          ->HandleOdometryMessage(topic, msg.instantiate<nav_msgs::Odometry>());
+    }
+
+    rosgraph_msgs::Clock clock;
+    clock.clock = msg.getTime();
+    clock_publisher.publish(clock);
+
+    ::ros::spinOnce();
+  }
+  bag.close();
+
+  node.map_builder_bridge()->FinishTrajectory(trajectory_id);
+  node.map_builder_bridge()->WriteAssets(FLAGS_bag_filename);
+}
+
+}  // namespace
+}  // namespace cartographer_ros
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+  google::ParseCommandLineFlags(&argc, &argv, true);
+
+  CHECK(!FLAGS_configuration_directory.empty())
+      << "-configuration_directory is missing.";
+  CHECK(!FLAGS_configuration_basename.empty())
+      << "-configuration_basename is missing.";
+  CHECK(!FLAGS_bag_filename.empty())
+      << "-bag_filename is missing.";
+  CHECK(!FLAGS_urdf_filename.empty()) << "-urdf_filename is missing.";
+
+  ::ros::init(argc, argv, "cartographer_offline_node");
+  ::ros::start();
+
+  cartographer_ros::ScopedRosLogSink ros_log_sink;
+  cartographer_ros::Run();
+
+  ::ros::shutdown();
+}