126 lines
5.3 KiB
ReStructuredText
126 lines
5.3 KiB
ReStructuredText
.. 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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ROS API
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=======
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The following ROS API is provided by `cartographer_node`_.
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Command-line Flags
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==================
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.. TODO(damonkohler): Use an options list if it can be made to render nicely.
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\-\-configuration_directory
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First directory in which configuration files are searched, second is always
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the Cartographer installation to allow including files from there.
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\-\-configuration_basename
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Basename (i.e. not containing any directory prefix) of the configuration file
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(e.g. backpack_3d.lua).
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Subscribed Topics
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=================
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The following range data topics are mutually exclusive. At least one source of
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range data is required.
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scan (`sensor_msgs/LaserScan`_)
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Supported in 2D and 3D (e.g. using an axially rotating planar laser scanner).
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If *use_laser_scan* is enabled in the :doc:`configuration`, this topic will
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be used as input for SLAM.
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echoes (`sensor_msgs/MultiEchoLaserScan`_)
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Supported in 2D and 3D (e.g. using an axially rotating planar laser scanner).
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If *use_multi_echo_laser_scan* is enabled in the :doc:`configuration`, this
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topic will be used as input for SLAM. Only the first echo is used.
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points2 (`sensor_msgs/PointCloud2`_)
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Only supported in 3D. If *num_point_clouds* is set to 1 in the
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:doc:`configuration`, this topic will be used as input for SLAM. If
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*num_point_clouds* is greater than 1, multiple numbered points2 topics (i.e.
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points2_1, points2_2, points2_3, ... up to and including *num_point_clouds*)
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will be used as inputs for SLAM.
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The following additional sensor data topics may also be provided.
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imu (`sensor_msgs/Imu`_)
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Supported in 2D (optional) and 3D (required). This topic will be used as
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input for SLAM.
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odom (`nav_msgs/Odometry`_)
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Supported in 2D (optional) and 3D (optional). If *use_odometry* is
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enabled in the :doc:`configuration`, this topic will be used as input for
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SLAM.
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Published Topics
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================
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map (`nav_msgs/OccupancyGrid`_)
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Only supported in 2D. If subscribed to, a background thread will continuously
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compute and publish the map. The time between updates will increase with the
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size of the map. For faster updates, use the submaps APIs.
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scan_matched_points2 (`sensor_msgs/PointCloud2`_)
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Point cloud as it was used for the purpose of scan-to-submap matching. This
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cloud may be both filtered and projected depending on the
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:doc:`configuration`.
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submap_list (`cartographer_ros_msgs/SubmapList`_)
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List of all submaps, including the pose and latest version number of each
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submap, across all trajectories.
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Services
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========
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submap_query (`cartographer_ros_msgs/SubmapQuery`_)
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Fetches the requested submap.
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finish_trajectory (`cartographer_ros_msgs/FinishTrajectory`_)
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Finishes the current trajectory by flushing all queued sensor data, running a
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final optimization, and writing the map to disk. Currently, this also
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triggers shutdown.
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Required tf Transforms
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======================
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Transforms from all incoming sensor data frames to the :doc:`configured
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<configuration>` *tracking_frame* and *published_frame* must be available.
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Typically, these are published periodically by a `robot_state_publisher` or a
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`static_transform_publisher`.
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Provided tf Transforms
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======================
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The transformation between the :doc:`configured <configuration>` *map_frame*
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and *published_frame* is always provided.
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If *provide_odom_frame* is enabled in the :doc:`configuration`, a continuous
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(i.e. unaffected by loop closure) transform between the :doc:`configured
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<configuration>` *odom_frame* and *published_frame* will be provided.
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.. _robot_state_publisher: http://wiki.ros.org/robot_state_publisher
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.. _static_transform_publisher: http://wiki.ros.org/tf#static_transform_publisher
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.. _cartographer_node: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/node_main.cc
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.. _cartographer_ros_msgs/FinishTrajectory: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/FinishTrajectory.srv
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.. _cartographer_ros_msgs/SubmapList: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/SubmapList.msg
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.. _cartographer_ros_msgs/SubmapQuery: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/SubmapQuery.srv
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.. _nav_msgs/OccupancyGrid: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html
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.. _nav_msgs/Odometry: http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
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.. _sensor_msgs/Imu: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html
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.. _sensor_msgs/LaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html
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.. _sensor_msgs/MultiEchoLaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/MultiEchoLaserScan.html
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.. _sensor_msgs/PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
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