Add 3D localization demo. (#580)
Adds configuration files and launch files for 3D backpack pure localization. Moves most demos to a separate documentation page.master
Wolfgang Hess
gaschler
parent
f6a8903a40
commit
bf187d9059
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-- Copyright 2016 The Cartographer Authors
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--
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-- Licensed under the Apache License, Version 2.0 (the "License");
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-- you may not use this file except in compliance with the License.
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-- You may obtain a copy of the License at
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--
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-- http://www.apache.org/licenses/LICENSE-2.0
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--
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-- Unless required by applicable law or agreed to in writing, software
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-- distributed under the License is distributed on an "AS IS" BASIS,
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-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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-- See the License for the specific language governing permissions and
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-- limitations under the License.
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include "backpack_3d.lua"
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TRAJECTORY_BUILDER.pure_localization = true
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SPARSE_POSE_GRAPH.optimize_every_n_scans = 100
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-- 3D localization is not working that well, so we choose a low min score.
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SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.45
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return options
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<!--
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Copyright 2016 The Cartographer Authors
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<launch>
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<param name="/use_sim_time" value="true" />
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<param name="robot_description"
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textfile="$(find cartographer_ros)/urdf/backpack_3d.urdf" />
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<node name="robot_state_publisher" pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node name="cartographer_node" pkg="cartographer_ros"
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type="cartographer_node" args="
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-configuration_directory $(find cartographer_ros)/configuration_files
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-configuration_basename backpack_3d_localization.lua
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-map_filename $(arg map_filename)"
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output="screen">
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<remap from="points2_1" to="horizontal_laser_3d" />
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<remap from="points2_2" to="vertical_laser_3d" />
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</node>
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<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
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type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
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<node name="rviz" pkg="rviz" type="rviz" required="true"
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args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
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<node name="playbag" pkg="rosbag" type="play"
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args="--clock $(arg bag_filename)" />
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</launch>
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.. Copyright 2016 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=====
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Demos
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=====
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Pure localization
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=================
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.. code-block:: bash
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# Pure localization demo in 2D: We use 2 different 2D bags from the Deutsche
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# Museum. The first one is used to generate the map, the second to run
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# pure localization.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag
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# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
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roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
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# Run pure localization:
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roslaunch cartographer_ros demo_backpack_2d_localization.launch \
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map_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
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bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag
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# Pure localization demo in 3D: We use 2 different 3D bags from the Deutsche
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# Museum. The first one is used to generate the map, the second to run
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# pure localization.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag
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# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
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roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag
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# Run pure localization:
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roslaunch cartographer_ros demo_backpack_3d_localization.launch \
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map_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream \
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bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag
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Revo LDS
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========
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.. code-block:: bash
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# Download the Revo LDS example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
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# Launch the Revo LDS demo.
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roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
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PR2
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===
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.. code-block:: bash
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# Download the PR2 example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
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# Launch the PR2 demo.
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roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
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Taurob Tracker
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==============
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.. code-block:: bash
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# Download the Taurob Tracker example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
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# Launch the Taurob Tracker demo.
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roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag
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@ -23,6 +23,7 @@ Cartographer ROS Integration
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tuning
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ros_api
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assets_writer
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demos
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data
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faq
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@ -95,40 +96,11 @@ the demo:
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# Launch the 2D backpack demo.
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roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
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# Pure localization demo: We use 2 different 2D bags from the Deutsche
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# Museum. The first one is used to generate the map, the second to run
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# pure localization.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag
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# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
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roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
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# Run pure localization:
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roslaunch cartographer_ros demo_backpack_2d_localization.launch \
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bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag \
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map_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream
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# Download the 3D backpack example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
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# Launch the 3D backpack demo.
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roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
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# Download the Revo LDS example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
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# Launch the Revo LDS demo.
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roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
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# Download the PR2 example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
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# Launch the PR2 demo.
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roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
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# Download the Taurob Tracker example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
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# Launch the Taurob Tracker demo.
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roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag
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The launch files will bring up ``roscore`` and ``rviz`` automatically.
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See :doc:`demos` for additional demos including localization and various robots.
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