Official RTAB-Map Forum

2D LiDAR on quadrotor

Classic

List

Threaded

7 messages Options

heshamhendy

2D LiDAR on quadrotor

I have troubling with integrating zed2i camera with 2DLiDAR and GX5: As you see I use really many sensor and the reason behind that I have no tolerance with error since I need odometry data für quadrotor and it must be accurate. I tried 2D LiDAR on plane motion and i worked fine; however with z motion something went south!! I attached my launch file and I hope someone can explain me why that happens and if I can fix it.

P.S: I can't use 3D LiDAR because of the weight

rtabmap_zed.launch

heshamhendy

Re: 2D LiDAR on quadrotor

This post was updated on .

<!-- Remeber to change sime time!!!!!!!!!!!!!!!!!!!!!!!!!!! -->
<launch>
  <!--node pkg="tf" type="static_transform_publisher" name="tf_GX5_imu_baselink" args="0.0 0.0 0.0 0 0.0000000 0.0000000 base_link camera_link 500" /-->

  <node pkg="tf" type="static_transform_publisher" name="tf_laser_baselink" args="0.0 -0.05 0.0 0 0.0000000 0.0000000 base_link laser 50" />

  <node pkg="tf" type="static_transform_publisher" name="tf_GX5_imu_baselink" args="0.0 0.0 0.0 0 0.0000000 0.0000000 base_link gx5_imu 500" />
  <node pkg="tf" type="static_transform_publisher" name="tf_GX5_filteredimu_baselink" args="0.0 0.0 0.0 0 0.0000000 0.0000000 base_link imu 500" />

  <arg name="imu_ignore_acc"          default="false" />
  <arg name="imu_remove_gravitational_acceleration" default="true" />
  <!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz, sensor fusiom nodes at once -->
  <!-- arg name="odom_strategy" default="9"/--> <!-- default VINS -->

  <arg name="stereo"                    default="false"/>
  <arg     if="$(arg stereo)" name="depth"  default="false"/>
  <arg unless="$(arg stereo)" name="depth"  default="true"/>
  <arg name="subscribe_rgb"  default="$(arg depth)"/>
 
  <!-- Choose visualization -->
  <arg name="rtabmapviz"              default="false" /> 
  <arg name="rviz"                    default="true" />
  
  <!-- Localization-only mode -->
  <arg name="localization"            default="false"/>
  
  <!-- sim time for convenience, if playing a rosbag -->
  <arg name="use_sim_time"            default="false"/>
  <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
  
  <!-- Corresponding config files -->
  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
  <arg name="rviz_cfg"                default="$(find connect_senses)/rviz/rtabmap_specialized_zed2i.rviz" />
  
  <arg name="frame_id"                default="base_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
  <arg name="odom_frame_id"           default="odom"/>                <!-- If set, TF is used to get odometry instead of the topic (no need since we have the topic) -->
  <arg name="odom_frame_id_init"      default=""/>                <!-- If set, TF map->odom is published even if no odometry topic has been received yet. The frame id should match the one in the topic. -->
  <arg name="map_frame_id"            default="map"/>
  <arg name="ground_truth_frame_id"   default=""/>     <!-- e.g., "world" -->
  <arg name="ground_truth_base_frame_id" default=""/>  <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
  <arg name="namespace"               default="rtabmap"/>
  <arg name="database_path"           default="~/pcdFiles/rtabmap/rtabmap.db"/>
  <arg name="queue_size"              default="10"/>
  <arg name="wait_for_transform"      default="0.2"/>                            <!-- to be observed, sometimes complains-->>
  <arg name="args"                    default="--delete_db_on_start"/>              <!-- delete_db_on_start, udebug -->
  <arg name="rtabmap_args"            default="$(arg args)" />   <!-- deprecated, use "args" argument -->
  <?arg name="rtabmap_args"            value="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Odom/Strategy $(arg odom_strategy) --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml"/ ?>
  <arg name="gdb"                     default="false"/>         <!-- Launch nodes in gdb for debugging (apt install xterm gdb) -->
  <arg     if="$(arg gdb)" name="launch_prefix" default="xterm -e gdb -q -ex run --args"/>
  <arg unless="$(arg gdb)" name="launch_prefix" default=""/>
  <arg name="clear_params"            default="true"/>
  <arg name="output"                  default="screen"/>        <!-- Control node output (screen or log) -->
  <arg name="publish_tf_map"          default="true"/>

  <!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
  <?arg     if="$(arg stereo)" name="approx_sync"  default="false"/>
  <arg unless="$(arg stereo)" name="approx_sync"  default="$(arg depth)"/?>
  <arg name="approx_sync"          default="true"/>     
  <arg name="approx_sync_max_interval"  default="0"/> <!-- (sec) 0 means infinite interval duration (used with approx_sync=true) -->
   
  <!-- RGB-D related topics -->
  <arg name="rgb_topic"               default="/zed2i/zed_node/rgb/image_rect_color" />
  <arg name="depth_topic"             default="/zed2i/zed_node/depth/depth_registered" />
  <arg name="camera_info_topic"       default="/zed2i/zed_node/depth/camera_info" />
  <arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
  
  <!-- stereo related topics -->
  <arg name="stereo_namespace"        default="/stereo_camera"/>
  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />

  
  <!-- Already synchronized RGB-D related topic, with rtabmap_ros/rgbd_sync nodelet -->
  <arg name="rgbd_sync"               default="true"/>         <!-- pre-sync rgb_topic, depth_topic, camera_info_topic, set to true if an odom from VIO will be used.  -->
  <arg name="approx_rgbd_sync"        default="false"/>          <!-- false=exact synchronization -->
  <arg name="subscribe_rgbd"          default="$(arg rgbd_sync)"/>
  <arg name="rgbd_topic"              default="rgbd_image" />
  <arg name="depth_scale"             default="1.0" />         <!-- Deprecated, use rgbd_depth_scale instead -->
  <arg name="rgbd_depth_scale"        default="$(arg depth_scale)" />
  <arg name="rgbd_decimation"         default="1" />
  
  <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
  <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
  <arg name="depth_image_transport"   default="compressedDepth"/>  <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->
  
  <arg name="gen_cloud"               default="false"/> <!-- only works with depth image and if not subscribing to scan_cloud topic-->
  <arg name="gen_cloud_decimation"    default="4"/>
  <arg name="gen_cloud_voxel"         default="0.05"/>
   
  <arg name="subscribe_scan"          default="true"/>
  <arg name="scan_topic"              default="/scan"/>
  <arg name="subscribe_scan_cloud"    default="$(arg gen_cloud)"/>
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
  <arg name="subscribe_scan_descriptor" default="false"/>
  <arg name="scan_descriptor_topic"   default="/scan_descriptor"/>
  <arg name="scan_cloud_max_points"   default="0"/>
  <arg name="scan_cloud_filtered"     default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
  <arg name="gen_scan"                default="false"/> <!-- only works with depth image and if not subscribing to scan topic-->
  
  <arg name="gen_depth"                  default="false" /> <!-- Generate depth image from scan_cloud -->
  <arg name="gen_depth_decimation"       default="1" />
  <arg name="gen_depth_fill_holes_size"  default="0" />
  <arg name="gen_depth_fill_iterations"  default="1" />
  <arg name="gen_depth_fill_holes_error" default="0.1" />
   
  <arg name="visual_odometry"          default="true"/>          <!-- Launch rtabmap visual odometry node -->
  <arg name="icp_odometry"             default="true"/>         <!-- Launch rtabmap icp odometry node -->
  <arg name="odom_topic"               default="odom"/>          <!-- Odometry topic name like /zed2i/zed_node/odom or /odometry/filtered-->
  <arg name="vo_frame_id"              default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
  <arg name="publish_tf_odom"          default="true"/>            <!-- revise in case of fusion-->>
  <arg name="odom_tf_angular_variance" default="0.001"/>         <!-- If TF is used to get odometry, this is the default angular variance -->
  <arg name="odom_tf_linear_variance"  default="0.001"/>         <!-- If TF is used to get odometry, this is the default linear variance -->
  <arg name="odom_args"                default=""/>              <!-- More arguments for odometry (overwr/zed2i/zed_node/imu/datate same parameters in rtabmap_args) -->
  <arg name="odom_sensor_sync"         default="true"/>
  <arg name="odom_guess_frame_id"        default=""/>
  <arg name="odom_guess_min_translation" default="0"/>
  <arg name="odom_guess_min_rotation"    default="0"/>
  <arg name="odom_max_rate"            default="0"/>
  <arg name="odom_expected_rate"       default="0"/>
  <arg name="imu_topic"                default="/gx5/imu/data"/>          <!-- only used with VIO approaches: ex: /mavros/imu/data (use!!) or /zed2i/zed_node/imu/data  or /gx5/nav/filtered_imu/data--> <!-- there is some thong wrong!!!? -->
  <arg name="wait_imu_to_init"         default="false"/>
  <arg name="use_odom_features"        default="false"/>
  
  <arg name="scan_cloud_assembling"              default="false"/>
  <arg name="scan_cloud_assembling_time"         default="1"/>      <!-- max_clouds and time should not be set at the same time -->
  <arg name="scan_cloud_assembling_max_clouds"   default="0"/>      <!-- max_clouds and time should not be set at the same time -->
  <arg name="scan_cloud_assembling_fixed_frame"  default=""/>
  <arg name="scan_cloud_assembling_voxel_size"   default="0.05"/>
  <arg name="scan_cloud_assembling_range_min"    default="0.0"/>    <!-- 0=disabled -->
  <arg name="scan_cloud_assembling_range_max"    default="0.0"/>    <!-- 0=disabled -->
  <arg name="scan_cloud_assembling_noise_radius"   default="0.0"/>    <!-- 0=disabled -->
  <arg name="scan_cloud_assembling_noise_min_neighbors"   default="5"/>
  
  <arg name="subscribe_user_data"      default="false"/>             <!-- user data synchronized subscription -->
  <arg name="user_data_topic"          default="/user_data"/>
  <arg name="user_data_async_topic"    default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->
  
  <arg name="gps_topic"                default="/gps/fix" />         <!-- gps async subscription -->
  
  <arg name="tag_topic"                default="/tag_detections" />  <!-- apriltags async subscription -->
  <arg name="tag_linear_variance"      default="0.0001" />
  <arg name="tag_angular_variance"     default="9999" />             <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->
  <arg name="fiducial_topic"           default="/fiducial_transforms" />  <!-- aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covriance -->
  
  <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
  <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
  <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
  <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
  <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
  <arg if="$(arg compressed)"     name="left_image_topic_relay"    default="$(arg left_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="left_image_topic_relay"    default="$(arg left_image_topic)"/>
  <arg if="$(arg compressed)"     name="right_image_topic_relay"   default="$(arg right_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="right_image_topic_relay"   default="$(arg right_image_topic)"/>
  <arg if="$(arg rgbd_sync)"      name="rgbd_topic_relay"          default="$(arg rgbd_topic)"/>
  <arg unless="$(arg rgbd_sync)"  name="rgbd_topic_relay"          default="$(arg rgbd_topic)_relay"/>

  <!-- Nodes -->
  <group ns="$(arg namespace)">
     
    <!-- relays -->
    <group if="$(arg depth)">
      <group unless="$(arg subscribe_rgbd)">
        <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
        <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
      </group>
      <group if="$(arg rgbd_sync)">
        <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
        <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
        <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" clear_params="$(arg clear_params)" output="$(arg output)">
          <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
          <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
          <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
          <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
          <param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
          <param name="queue_size"      type="int"    value="$(arg queue_size)"/>
          <param name="depth_scale"     type="double" value="$(arg rgbd_depth_scale)"/>
          <param name="decimation"     type="double" value="$(arg rgbd_decimation)"/>
        </node>
      </group>
    </group>
    <group if="$(arg stereo)">
      <group unless="$(arg subscribe_rgbd)">
        <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
        <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
      </group>
      <group if="$(arg rgbd_sync)">
        <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
        <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
        <node pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync" clear_params="$(arg clear_params)" output="$(arg output)">
          <remap from="left/image_rect"   to="$(arg left_image_topic_relay)"/>
          <remap from="right/image_rect"  to="$(arg right_image_topic_relay)"/>
          <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
          <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
          <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
          <param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
          <param name="queue_size"      type="int"    value="$(arg queue_size)"/>
        </node>
      </group>
    </group>
    
    <group unless="$(arg rgbd_sync)">
       <group if="$(arg subscribe_rgbd)">
         <node name="republish_rgbd_image"  type="rgbd_relay" pkg="rtabmap_ros" clear_params="$(arg clear_params)">
           <remap     if="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)/compressed"/>
           <remap     if="$(arg compressed)" from="$(arg rgbd_topic)/compressed_relay" to="$(arg rgbd_topic_relay)"/>
           <remap unless="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)"/>
           <param if="$(arg compressed)" name="uncompress" value="true"/>
         </node>
      </group>
    </group>
    
    <node if="$(arg gen_cloud)" pkg="nodelet" type="nodelet" name="gen_cloud_from_depth" args="standalone rtabmap_ros/point_cloud_xyz" clear_params="$(arg clear_params)" output="$(arg output)">
      <remap from="depth/image"       to="$(arg depth_topic_relay)"/>
      <remap from="depth/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="cloud"             to="$(arg scan_cloud_topic)" />

      <param name="decimation"  type="double" value="$(arg gen_cloud_decimation)"/>
      <param name="voxel_size"  type="double" value="$(arg gen_cloud_voxel)"/>
      <param name="approx_sync" type="bool"   value="false"/>
      <param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
    </node>

    <!-- Visual odometry -->
    <group unless="$(arg icp_odometry)">
      <group if="$(arg visual_odometry)">
      
        <!-- RGB-D Odometry -->
        <node unless="$(arg stereo)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
          <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
          <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
          <remap from="odom"            to="$(arg odom_topic)"/>
          <remap from="imu"             to="$(arg imu_topic)"/>
      
          <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
          <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
          <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
          <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
          <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
          <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
          <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
          <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
          <param name="approx_sync_max_interval"    type="double" value="$(arg approx_sync_max_interval)"/>
          <param name="config_path"                 type="string" value="$(arg cfg)"/>
          <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
          <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
          <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
          <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
          <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
          <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
          <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
          <param name="keep_color"                  type="bool"   value="$(arg use_odom_features)"/>
        </node>

        <!-- Stereo Odometry -->
        <node if="$(arg stereo)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
          <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
          <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
          <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
          <remap from="rgbd_image"             to="$(arg rgbd_topic_relay)"/>
          <remap from="odom"                   to="$(arg odom_topic)"/>
          <remap from="imu"                    to="$(arg imu_topic)"/>
      
          <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
          <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
          <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
          <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
          <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
          <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
          <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
          <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
          <param name="approx_sync_max_interval"    type="double" value="$(arg approx_sync_max_interval)"/>
          <param name="config_path"                 type="string" value="$(arg cfg)"/>
          <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
          <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
          <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
          <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
          <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
          <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
          <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
          <param name="keep_color"                  type="bool"   value="$(arg use_odom_features)"/>
        </node>
      </group>
    </group>
    
    <!-- ICP Odometry -->
    <node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
      <remap from="imu"                    to="$(arg imu_topic)"/>
      
      <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
      <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
      <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
      <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
      <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
      <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
      <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
      <param name="config_path"                 type="string" value="$(arg cfg)"/>
      <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
      <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
      <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
      <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
      <param name="scan_cloud_max_points"       type="int"    value="$(arg scan_cloud_max_points)"/>
      <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
      <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
    </node>
    
    <node if="$(arg scan_cloud_assembling)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" clear_params="$(arg clear_params)" output="$(arg output)">
      <remap     if="$(arg scan_cloud_filtered)" from="cloud" to="odom_filtered_input_scan"/>
      <remap unless="$(arg scan_cloud_filtered)" from="cloud" to="$(arg scan_cloud_topic)"/>

      <remap from="odom"            to="$(arg odom_topic)"/>
      <param name="assembling_time" type="double" value="$(arg scan_cloud_assembling_time)"/>
      <param name="max_clouds"      type="int"    value="$(arg scan_cloud_assembling_max_clouds)"/>
      <param name="fixed_frame_id"  type="string" value="$(arg scan_cloud_assembling_fixed_frame)"/>
      <param name="voxel_size"      type="double" value="$(arg scan_cloud_assembling_voxel_size)"/>
      <param name="range_min"       type="double" value="$(arg scan_cloud_assembling_range_min)"/>
      <param name="range_max"       type="double" value="$(arg scan_cloud_assembling_range_max)"/>
      <param name="noise_radius"        type="double" value="$(arg scan_cloud_assembling_noise_radius)"/>
      <param name="noise_min_neighbors" type="int"    value="$(arg scan_cloud_assembling_noise_min_neighbors)"/>
      <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
    </node>
  
    <!-- Visual SLAM (robot side) -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="$(arg depth)"/>
      <param name="subscribe_rgb"        type="bool"   value="$(arg subscribe_rgb)"/>
      <param name="subscribe_rgbd"       type="bool"   value="$(eval subscribe_rgbd or use_odom_features)"/>
      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
      <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
      <param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
      <param name="subscribe_user_data"  type="bool"   value="$(arg subscribe_user_data)"/>
      <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
      <param if="$(arg icp_odometry)"    name="subscribe_odom_info" type="bool" value="true"/>
      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
      <param name="map_frame_id"         type="string" value="$(arg map_frame_id)"/>
      <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
      <param name="odom_frame_id_init"   type="string" value="$(arg odom_frame_id_init)"/>
      <param name="publish_tf"           type="bool"   value="$(arg publish_tf_map)"/>
      <param name="gen_scan"             type="bool"   value="$(arg gen_scan)"/>
      <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
      <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
      <param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>
      <param name="odom_tf_linear_variance"  type="double" value="$(arg odom_tf_linear_variance)"/>
      <param name="odom_sensor_sync"         type="bool"   value="$(arg odom_sensor_sync)"/>
      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
      <param name="database_path"        type="string" value="$(arg database_path)"/>
      <param name="approx_sync"          type="bool"   value="$(eval approx_sync and not use_odom_features)"/>
      <param name="config_path"          type="string" value="$(arg cfg)"/>
      <param name="queue_size"           type="int" value="$(arg queue_size)"/>
      <param if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
      <param name="landmark_linear_variance"   type="double" value="$(arg tag_linear_variance)"/>
      <param name="landmark_angular_variance"  type="double" value="$(arg tag_angular_variance)"/> 
      <param name="gen_depth"                  type="bool"   value="$(arg gen_depth)" />
      <param name="gen_depth_decimation"       type="int"    value="$(arg gen_depth_decimation)" />
      <param name="gen_depth_fill_holes_size"  type="int"    value="$(arg gen_depth_fill_holes_size)" />
      <param name="gen_depth_fill_iterations"  type="int"    value="$(arg gen_depth_fill_iterations)" />
      <param name="gen_depth_fill_holes_error" type="double" value="$(arg gen_depth_fill_holes_error)" />
      
      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      
      <remap     if="$(arg use_odom_features)" from="rgbd_image" to="odom_rgbd_image"/>
      <remap unless="$(arg use_odom_features)" from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
	
      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
      
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap if="$(eval scan_cloud_assembling)" from="scan_cloud" to="assembled_cloud"/>
      <remap if="$(eval scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="odom_filtered_input_scan"/>
      <remap if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
      <remap from="scan_descriptor"        to="$(arg scan_descriptor_topic)"/>
      <remap from="user_data"              to="$(arg user_data_topic)"/>
      <remap from="user_data_async"        to="$(arg user_data_async_topic)"/>
      <remap from="gps/fix"                to="$(arg gps_topic)"/>
      <remap from="tag_detections"         to="$(arg tag_topic)"/>
      <remap from="fiducial_transforms"    to="$(arg fiducial_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
      <remap from="imu"                    to="$(arg imu_topic)"/>
      
      <!-- localization mode -->
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>

      <param name="Optimizer/Strategy" value="2" />
      <param name="Optimizer/Robust" value="true" />
      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false" />
      <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
      <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
      <param name="RGBD/AngularUpdate"        type="string" value="0.01"/>
      <param name="RGBD/LinearUpdate"         type="string" value="0.01"/>
      <!-- param name="" value="" /-->
      <!-- param name="" value="" /-->
      <!-- param name="" value="" /-->
      <!-- param name="" value="" /-->
      <!-- param name="" value="" /-->
      <!-- param name="" value="" /-->
      <!-- param name="" value="" /-->
      <param name="RGBD/StartAtOrigin" value="true" />
      <param name="RGBD/LocalBundleOnLoopClosure" value="true" />
      <param name="RGBD/OptimizeMaxError" type="string" value="10.50" />
      <param name="RGBD/ProximityMaxGraphDepth" type="string" value="50" />

    </node>
  
    <!-- Visualisation RTAB-Map -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" clear_params="$(arg clear_params)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="$(arg depth)"/>
      <param name="subscribe_rgb"        type="bool"   value="$(arg subscribe_rgb)"/>
      <param name="subscribe_rgbd"       type="bool"   value="$(eval subscribe_rgbd or use_odom_features)"/>
      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
      <param unless="$(arg icp_odometry)" name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
      <param     if="$(arg icp_odometry)" name="subscribe_scan_cloud" type="bool"   value="$(eval subscribe_scan or subscribe_scan_cloud)"/>
      <param unless="$(arg icp_odometry)" name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
      <param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
      <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
      <param if="$(arg icp_odometry)"    name="subscribe_odom_info" type="bool" value="true"/>
      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
      <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
      <param name="wait_for_transform_duration" type="double"   value="$(arg wait_for_transform)"/>
      <param name="queue_size"           type="int"    value="$(arg queue_size)"/>
      <param name="approx_sync"          type="bool"   value="$(eval approx_sync and not use_odom_features)"/>
    
      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      
      <remap     if="$(arg use_odom_features)" from="rgbd_image" to="odom_rgbd_image"/>
      <remap unless="$(arg use_odom_features)" from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
      
      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
      
      <remap unless="$(arg icp_odometry)" from="scan" to="$(arg scan_topic)"/>
      <remap     if="$(arg icp_odometry)" from="scan_cloud" to="odom_filtered_input_scan"/>
      <remap unless="$(arg icp_odometry)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
      <remap from="scan_descriptor"        to="$(arg scan_descriptor_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
    </node>
  
  </group>
  
  <!-- Visualization RVIZ -->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb" clear_params="$(arg clear_params)" output="$(arg output)">
    <remap if="$(arg stereo)" from="left/image"        to="$(arg left_image_topic_relay)"/>
    <remap if="$(arg stereo)" from="right/image"       to="$(arg right_image_topic_relay)"/>
    <remap if="$(arg stereo)" from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
    <remap if="$(arg stereo)" from="right/camera_info" to="$(arg right_camera_info_topic)"/>
    <remap unless="$(arg subscribe_rgbd)" from="rgb/image"         to="$(arg rgb_topic_relay)"/>
    <remap unless="$(arg subscribe_rgbd)" from="depth/image"       to="$(arg depth_topic_relay)"/>
    <remap unless="$(arg subscribe_rgbd)" from="rgb/camera_info"   to="$(arg camera_info_topic)"/>
    <remap from="rgbd_image"        to="$(arg rgbd_topic_relay)"/>
    <remap from="cloud"             to="voxel_cloud" />

    <param name="decimation"  type="double" value="4"/>
    <param name="voxel_size"  type="double" value="0.0"/>
    <param name="approx_sync" type="bool"   value="$(arg approx_sync)"/>
    <param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
  </node>

  <!-- node pkg="tf" type="static_transform_publisher" name="base_link_connections"  args="0 0 0 0 0 0 /map_fused  /map 100" /-->

  <node pkg="robot_localization" type="ukf_localization_node" name="ukf_localization_node" clear_params="true" output="screen">

      <param name="frequency" value="30"/>
      <param name="sensor_timeout" value="0.1"/>
      <param name="two_d_mode" value="false"/>

      <param name="map_frame" value="map"/>
      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="$(arg frame_id)"/>
      <param name="world_frame" value="odom"/>

      <param name="publish_tf" value="false"/>

      <param name="transform_time_offset" value="0.0"/>

      <!-- /rtabmap/localization_pose -->
      <!-- param name="imu0"  value="/gx5/nav/filtered_imu/data"/--> <!-- /gx5/nav/filtered_imu/data -->>
      <param name="odom0" value="/zed2i/zed_node/odom"/> 
      <param name="odom1" value="/rtabmap/odom"/> <!-- param name="odom1" value="/rtabmap/odom"/-->
      <!-- param name="odom2" value="/gx5/nav/odom"/-->

      <!-- param name="pose0" value="/rtabmap/localization_pose"/-->

      <!-- The order of the values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. -->
      <rosparam param="odom0_config">[true, true, true,
                                      true, true, true,
                                      false, false, false,
                                      false, false, false,
                                      false, false, false]</rosparam>

      <rosparam param="odom1_config">[true, true, true,
                                      true, true, true,
                                      true, true, true,
                                      true, true, true,
                                      false, false, false]</rosparam>

      <!-- rosparam param="odom2_config">[false, false, false,
                                      true, true, true,
                                      false, false, false,
                                      true, true, true,
                                      false, false, false]</rosparam-->

      <rosparam     if="$(arg imu_ignore_acc)" param="imu0_config">[
                                     false, false, false,
                                     true,  true,  true,
                                     false, false, false,
                                     true,  true,  true,
                                     false,  false,  false] </rosparam>
      <rosparam unless="$(arg imu_ignore_acc)" param="imu0_config">[
                                     false, false, false,
                                     true,  true,  true,
                                     false, false, false,
                                     true,  true,  true,
                                     true,  true,  true] </rosparam>  
      
      <param name="odom0_differential" value="true"/>
      <param name="odom1_differential" value="true"/>
      <?param name="odom2_differential" value="true"/>
      <param name="imu0_differential" value="false"/?>

      <param name="odom0_relative" value="true"/>
      <param name="odom1_relative" value="true"/>
      <?param name="odom2_relative" value="true"/>
      <param name="imu0_relative" value="true"/?>

      <param name="imu0_remove_gravitational_acceleration" value="$(arg imu_remove_gravitational_acceleration)"/>

      <param name="print_diagnostics" value="true"/>

      <!-- ======== ADVANCED PARAMETERS ======== -->
      <param name="odom0_queue_size" value="25"/>
      <param name="odom1_queue_size" value="25"/>
      <?param name="odom2_queue_size" value="25"/>
      <param name="imu0_queue_size" value="50"/?> 

      <!-- The values are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz,
           vroll, vpitch, vyaw, ax, ay, az. -->
      <rosparam param="process_noise_covariance">[0.005, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                  0,    0.005, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                  0,    0,    0.006, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                  0,    0,    0,    0.003, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                  0,    0,    0,    0,    0.003, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                  0,    0,    0,    0,    0,    0.006, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                  0,    0,    0,    0,    0,    0,    0.0025, 0,     0,    0,    0,    0,    0,    0,    0,
                                                  0,    0,    0,    0,    0,    0,    0,     0.0025, 0,    0,    0,    0,    0,    0,    0,
                                                  0,    0,    0,    0,    0,    0,    0,     0,     0.004, 0,    0,    0,    0,    0,    0,
                                                  0,    0,    0,    0,    0,    0,    0,     0,     0,    0.001, 0,    0,    0,    0,    0,
                                                  0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.001, 0,    0,    0,    0,
                                                  0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0.002, 0,    0,    0,
                                                  0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0.001, 0,    0,
                                                  0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0.001, 0,
                                                  0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.0015]</rosparam>

      <!-- The values are ordered as x, y,
           z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. -->
           <rosparam param="initial_estimate_covariance">[1e-9, 0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                          0,    1e-9, 0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                          0,    0,    1e-9, 0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                          0,    0,    0,    1e-9, 0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                          0,    0,    0,    0,    1e-9, 0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                          0,    0,    0,    0,    0,    1e-9, 0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                          0,    0,    0,    0,    0,    0,    1e-9, 0,    0,    0,     0,     0,     0,    0,    0,
                                                          0,    0,    0,    0,    0,    0,    0,    1e-9, 0,    0,     0,     0,     0,    0,    0,
                                                          0,    0,    0,    0,    0,    0,    0,    0,    1e-9, 0,     0,     0,     0,    0,    0,
                                                          0,    0,    0,    0,    0,    0,    0,    0,    0,    1e-9,  0,     0,     0,    0,    0,
                                                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     1e-9,  0,     0,    0,    0,
                                                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     1e-9,  0,    0,    0,
                                                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     1e-9, 0,    0,
                                                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    1e-9, 0,
                                                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    1e-9]</rosparam>

  </node>
</launch>

matlabbe

Re: 2D LiDAR on quadrotor

Administrator

The issue is not explicitly stated. Is it just that z or height is not estimated? Please don't recopy the rtabmap.launch file here, I won't check every lines to see what are the differences with the original one. You can create a new launch file and include it while changing only parameters you need.

heshamhendy

Re: 2D LiDAR on quadrotor

the main params are ¸

 <!-- RGB-D related topics -->
  <arg name="rgb_topic"               default="/zed2i/zed_node/rgb/image_rect_color" />
  <arg name="depth_topic"             default="/zed2i/zed_node/depth/depth_registered" />
  <arg name="camera_info_topic"       default="/zed2i/zed_node/depth/camera_info" />
  <arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
  
  <!-- stereo related topics -->
  <arg name="stereo_namespace"        default="/stereo_camera"/>
  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />

  
  <!-- Already synchronized RGB-D related topic, with rtabmap_ros/rgbd_sync nodelet -->
  <arg name="rgbd_sync"               default="true"/>         <!-- pre-sync rgb_topic, depth_topic, camera_info_topic, set to true if an odom from VIO will be used.  -->
  <arg name="approx_rgbd_sync"        default="false"/>          <!-- false=exact synchronization -->
  <arg name="subscribe_rgbd"          default="$(arg rgbd_sync)"/>
  <arg name="rgbd_topic"              default="rgbd_image" />
  <arg name="depth_scale"             default="1.0" />         <!-- Deprecated, use rgbd_depth_scale instead -->
  <arg name="rgbd_depth_scale"        default="$(arg depth_scale)" />
  <arg name="rgbd_decimation"         default="1" />
  
  <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
  <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
  <arg name="depth_image_transport"   default="compressedDepth"/>  <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->
  
  <arg name="gen_cloud"               default="false"/> <!-- only works with depth image and if not subscribing to scan_cloud topic-->
  <arg name="gen_cloud_decimation"    default="4"/>
  <arg name="gen_cloud_voxel"         default="0.05"/>
   
  <arg name="subscribe_scan"          default="true"/>
  <arg name="scan_topic"              default="/scan"/>
  <arg name="subscribe_scan_cloud"    default="$(arg gen_cloud)"/>
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
  <arg name="subscribe_scan_descriptor" default="false"/>
  <arg name="scan_descriptor_topic"   default="/scan_descriptor"/>
  <arg name="scan_cloud_max_points"   default="0"/>
  <arg name="scan_cloud_filtered"     default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
  <arg name="gen_scan"                default="false"/> <!-- only works with depth image and if not subscribing to scan topic-->
  
  <arg name="gen_depth"                  default="false" /> <!-- Generate depth image from scan_cloud -->
  <arg name="gen_depth_decimation"       default="1" />
  <arg name="gen_depth_fill_holes_size"  default="0" />
  <arg name="gen_depth_fill_iterations"  default="1" />
  <arg name="gen_depth_fill_holes_error" default="0.1" />
   
  <arg name="visual_odometry"          default="true"/>          <!-- Launch rtabmap visual odometry node -->
  <arg name="icp_odometry"             default="true"/>         <!-- Launch rtabmap icp odometry node -->
  <arg name="odom_topic"               default="odom"/>          <!-- Odometry topic name like /zed2i/zed_node/odom or /odometry/filtered-->
  <arg name="vo_frame_id"              default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
  <arg name="publish_tf_odom"          default="true"/>            <!-- revise in case of fusion-->>
  <arg name="odom_tf_angular_variance" default="0.001"/>         <!-- If TF is used to get odometry, this is the default angular variance -->
  <arg name="odom_tf_linear_variance"  default="0.001"/>         <!-- If TF is used to get odometry, this is the default linear variance -->
  <arg name="odom_args"                default=""/>              <!-- More arguments for odometry (overwr/zed2i/zed_node/imu/datate same parameters in rtabmap_args) -->
  <arg name="odom_sensor_sync"         default="true"/>
  <arg name="odom_guess_frame_id"        default=""/>
  <arg name="odom_guess_min_translation" default="0"/>
  <arg name="odom_guess_min_rotation"    default="0"/>
  <arg name="odom_max_rate"            default="0"/>
  <arg name="odom_expected_rate"       default="0"/>
  <arg name="imu_topic"                default="/gx5/imu/data"/>          <!-- only used with VIO approaches: ex: /mavros/imu/data (use!!) or /zed2i/zed_node/imu/data  or /gx5/nav/filtered_imu/data--> <!-- there is some thong wrong!!!? -->
  <arg name="wait_imu_to_init"         default="false"/>
  <arg name="use_odom_features"        default="false"/>

¸

The main problem is I would like to use 2D-LIDAR on a drone that moves in Z-axis: The map that gets plotted moves upwards as far as moves it up. The assumption from rtab-map is that having 2D LiDAR means we have a motion on x-y plane! Is there a way to fix that.

matlabbe

Re: 2D LiDAR on quadrotor

Administrator

Hi,

yes, rtabmap assumes you are using a ground robot moving on x-y plane when using a 2D lidar. You could convert the laser scan topic into a PointCloud2 topic, then rtabmap will think it is a 3D point cloud. However, all ICP stuff will likely fail (for lack of correspondences) but you could still use the lidar for mapping or generate a 3D point cloud, and you would need an external 6DoF odometry to feed to rtabmap node.

You can also use point_cloud_assembler to accumulate the laser scans for 1 second, then feed the assembled point cloud to rtabmap.

cheers,
Mathieu

heshamhendy

Re: 2D LiDAR on quadrotor

Hey

I mainly need the LiDAR to get Odometry data. For Mapping, I already have zed camera which provides unprecise odometry and therefore I need the LiDAR on the drone which heavily depends on Odometry data.

matlabbe

Re: 2D LiDAR on quadrotor

Administrator

icp_odometry will likely not work to estimate odometry from 2D lidar in 6DoF. If you could find another lidar odometry package that can do it, you could feed its odometry to rtabmap node, which uses the camera to build a map.