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Follow googlecartographer/cartographer#686. (#605)

master
Wolfgang Hess 2017-11-17 13:03:43 +01:00 committed by Wally B. Feed
parent 50be3d91a4
commit af17cf5a27
8 changed files with 15 additions and 16 deletions
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11
cartographer_ros/cartographer_ros/configuration_files_test.cc
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@ -34,12 +34,11 @@ TEST_P(ConfigurationFilesTest, ValidateNodeOptions) {
});
}
INSTANTIATE_TEST_CASE_P(ValidateAllNodeOptions, ConfigurationFilesTest,
::testing::Values("backpack_2d.lua",
"backpack_2d_localization.lua",
"backpack_3d.lua", "pr2.lua",
"revo_lds.lua",
"taurob_tracker.lua"));
INSTANTIATE_TEST_CASE_P(
ValidateAllNodeOptions, ConfigurationFilesTest,
::testing::Values("backpack_2d.lua", "backpack_2d_localization.lua",
"backpack_3d.lua", "backpack_3d_localization.lua",
"pr2.lua", "revo_lds.lua", "taurob_tracker.lua"));
} // namespace
} // namespace cartographer_ros

2
cartographer_ros/configuration_files/backpack_2d.lua
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@ -38,6 +38,6 @@ options = {
}
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.scans_per_accumulation = 10
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10
return options

2
cartographer_ros/configuration_files/backpack_2d_localization.lua
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@ -15,6 +15,6 @@
include "backpack_2d.lua"
TRAJECTORY_BUILDER.pure_localization = true
POSE_GRAPH.optimize_every_n_scans = 20
POSE_GRAPH.optimize_every_n_nodes = 20
return options

4
cartographer_ros/configuration_files/backpack_3d.lua
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@ -37,12 +37,12 @@ options = {
imu_sampling_ratio = 1.,
}
TRAJECTORY_BUILDER_3D.scans_per_accumulation = 160
TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160
MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_scans = 320
POSE_GRAPH.optimize_every_n_nodes = 320
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.62

2
cartographer_ros/configuration_files/backpack_3d_localization.lua
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@ -15,6 +15,6 @@
include "backpack_3d.lua"
TRAJECTORY_BUILDER.pure_localization = true
POSE_GRAPH.optimize_every_n_scans = 100
POSE_GRAPH.optimize_every_n_nodes = 100
return options

2
cartographer_ros/configuration_files/revo_lds.lua
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@ -50,7 +50,7 @@ TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_scans = 35
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65
return options

4
cartographer_ros/configuration_files/taurob_tracker.lua
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@ -37,7 +37,7 @@ options = {
imu_sampling_ratio = 1.,
}
TRAJECTORY_BUILDER_3D.scans_per_accumulation = 180
TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 180
TRAJECTORY_BUILDER_3D.min_range = 0.5
TRAJECTORY_BUILDER_3D.max_range = 20.
TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
@ -45,7 +45,7 @@ TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_scans = 40
POSE_GRAPH.optimize_every_n_nodes = 40
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.62

4
docs/source/faq.rst
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@ -27,8 +27,8 @@ per UDP packet, not one per revolution.
__ http://www.ros.org/doc/api/sensor_msgs/html/msg/PointCloud2.html
In the `corresponding Cartographer configuration file`__ you see
`TRAJECTORY_BUILDER_3D.scans_per_accumulation = 160` which means we accumulate
160 per-UDP-packet point clouds into one larger point cloud, which
`TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160` which means we
accumulate 160 per-UDP-packet point clouds into one larger point cloud, which
incorporates motion estimation by combining constant velocity and IMU
measurements, for matching. Since there are two VLP-16s, 160 UDP packets is
enough for roughly 2 revolutions, one per VLP-16.