Problems with launch and mapping
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Problems with launch and mapping
 
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This post was updated on .
Hi,
I've finally managed to setup a working (for the most part) launch file. I'm still getting a few errors but can at least see the point cloud the lidar is putting out but i'm unable to actually create a map. Could you tell me where i'm going wrong. Also if i try to set the frame_id to anything other than os1_(sensor/lidar/imu) everything goes to pot. I'm assuming i should be working with map -> odom -> base_link -> os1_sensor / base_link -> camera. But as soon as i try static transforms i get other errors whereby the lidar can't be found. So i've attached all the details for the one that does work-ish. (Regarding the camera topics - I am awaiting a realsense D415 to arrive) Many thanks in advance Dan Launch file: <?xml version="1.0"?>
<!--
Copyright (c) 2018, STEREOLABS.
All rights reserved.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<!-- node pkg="tf" type="static_transform_publisher" name="map_2_odom" args="0 0 0 0 0 0 /map /odom 100"/>
<node pkg="tf" type="static_transform_publisher" name="odom_2_base_link" args="0 0 0 0 0 0 /odom /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_2_os1_sensor" args="0 0 0 0 0 0 /base_link /os1_sensor 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_2_camera" args="0 0 0 0 0 0 /base_link /camera 100"/ -->
<arg name="frame_id" default="os1_sensor"/>
<arg name="odom_frame_id" default="/odom"/>
<arg name="rtabmapviz" default="true" />
<arg name="rviz" default="true" />
<arg name="image" default="true" />
<arg name="scan_20_hz" default="false"/> <!-- If we launch the velodyne with "rpm:=1200" argument -->
<arg name="rgb_topic" default="/camera/color/image_raw"/>
<arg name="depth_topic" default="/camera/aligned_depth_to_color/image_raw"/>
<arg name="camera_info_topic" default="/camera/color/camera_info"/>
<node if="$(arg rviz)" pkg="ouster_ros" name="viz_node" type="viz_node" output="screen" required="true">
<remap from="~/os1_config" to="/os1_node/os1_config"/>
<remap from="~/points" to="/os1_cloud_node/points"/>
</node>
<node if="$(arg image)" pkg="ouster_ros" name="img_node" type="img_node" output="screen" required="true">
<remap from="~/os1_config" to="/os1_node/os1_config"/>
<remap from="~/points" to="/os1_cloud_node/points"/>
</node>
<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="rgbd_image"/> <!-- output -->
<param name="approx_sync" type="bool" value="false"/> <!-- false for realsense -->
</node>
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="/os1_cloud_node/points"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="imu" to="/os1_cloud_node/imu/data"/>
<param name="guess_frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_imu_to_init" type="bool" value="false"/>
<param name="Reg/Strategy" type="string" value="1"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="queue_size" type="int" value="10"/>
<param name="scan_cloud_max_points" value="32768"/> <!-- based on os-1 spec: 327,680 pts/second for 10 Hz -->
<remap from="odom" to="/odom"/>
<remap from="scan_cloud" to="/os1_cloud_node/points"/>
<remap from="rgbd_image" to="rgbd_image"/>
<!-- RTAB-Map's parameters -->
<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="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 1=ICP -->
<param name="Reg/Force3DoF" type="string" value="false"/>
<param name="Vis/MinInliers" type="string" value="15"/>
<param name="Rtabmap/TimeThr" type="string" value="0"/> <!-- set to 0 to disable memory management -->
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Grid/CellSize" type="string" value="0.05"/> <!-- 5cm voxel default-->
<param name="Kp/MaxFeatures" type="string" value="400"/>
<param name="Optimizer/Strategy" type="string" value="0"/> <!-- 0 is TORO, Default G20-->
<param name="RGBD/OptimizeMaxError" type="string" value="0"/> <!--When using TORO, seto to 0,otherwise set to 1-->
<param name="Kp/DetectorStrategy" type="string" value="6"/> <!--0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF(default) 7=BRISK 8=GFTT/ORB 9=KAZE-->
<param name="Grid/FromDepth" type="string" value="true"/> <!--suppress warning (subscribe_scan=true)-->
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/> <!--suppress warning (subscribe_scan = true and Reg/Strategy=1-->
<param name="Vis/FeatureType" type="string" value="6"/> <!--suppress warning,want to be same as KP/detectorstrategy -->
<!-- param name="Mem/LaserScanVoxelSize" type="string" value="0.1"/ -->
<!-- param name="Mem/LaserScanNormalK" type="string" value="10"/ -->
<!-- param name="Mem/LaserScanRadius" type="string" value="0"/ -->
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Grid/CellSize" type="string" value="0.1"/>
<param name="Grid/RangeMax" type="string" value="20"/>
<param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
<param name="Grid/FromDepth" type="string" value="true"/>
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/MaxTranslation" type="string" value="3"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.4"/>
</node>
<node pkg="nodelet" type="nodelet" name="point_cloud_assembler" args="standalone rtabmap_ros/point_cloud_assembler" output="screen">
<param if="$(arg scan_20_hz)" name="max_clouds" type="int" value="20" />
<param unless="$(arg scan_20_hz)" name="max_clouds" type="int" value="10" />
<param name="fixed_frame_id" type="string" value="fusion" />
<remap from="cloud" to="/os1_cloud_node/points"/>
<remap from="odom" to="/odom"/>
</node>
<node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="/odom"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="/os1_cloud_node/points"/>
<remap from="odom" to="/odom"/>
<param name="subscribe_depth" value="false"/><nabble_img src="Screenshot_from_2020-07-30_22-02-43.png" border="0" style="display: block; margin-left:auto; margin-right:auto;" alt="Rviz"/><nabble_img src="Screenshot_from_2020-07-30_22-05-11.png" border="0" style="display: block; margin-left:auto; margin-right:auto;" alt="TF "/><nabble_img src="rosgraphimg.png" border="0" style="display: block; margin-left:auto; margin-right:auto;" alt="ROSGraph"/>
</node>
</group>
</launch>      |
Re: Problems with launch and mapping
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Re: Problems with launch and mapping
Administrator
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Re: Problems with launch and mapping
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Re: Problems with launch and mapping
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This post was updated on .
So i appear to have made some progress. Although the odom is out and quite messy.
I made some changes to cpp files in the ouster folder particularly the timing. And use of tf2_ros allowed proper correction. I'm hoping you may be able to direct me where i'm going wrong - The use of rviz to view the cloud built in rtabmapviz - I'm going to read through any other problems with odom within the forum but any advice would be most welcome - Have i got the imu and lidar correct or should they be directly connected to base_link rather than os1_sensor? - opencv appears to be missing although reading 'https://github.com/introlab/rtabmap_ros/issues/422' i assume i should follow the information in that thread. Is it even worth adding opencv from source? - Would the use of a realsense t265 increase odometry or should i be looking at other means ie Hz increase or soem missing node? Some info from my current setup. My launch file does need cleaning up but for now it's working also the realsense needs to be added once i have the lidar working properly. Thanks in advance Dan <?xml version="1.0"?>
<!--
Copyright (c) 2018, STEREOLABS.
All rights reserved.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<arg name="frame_id" default="base_link"/>
<arg name="odom_frame_id" default="/odom"/>
<arg name="map_frame_id" default="map"/>
<arg name="rtabmapviz" default="true" />
<arg name="rviz" default="true" />
<arg name="image" default="true" />
<arg name="scan_20_hz" default="true"/> <!-- If we launch the velodyne with "rpm:=1200" argument -->
<arg name="namespace" default="rtabmap"/>
<arg name="rgb_topic" default="/camera/color/image_raw"/>
<arg name="depth_topic" default="/camera/aligned_depth_to_color/image_raw"/>
<arg name="camera_info_topic" default="/camera/color/camera_info"/>
<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="output" default="screen"/>
<arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
<arg name="rgbd_sync" default="true"/>
<arg name="approx_rgbd_sync" default="true"/>
<arg name="subscribe_rgbd" default="$(arg rgbd_sync)"/>
<arg name="rgbd_topic" default="rgbd_image" />
<arg name="depth_scale" default="1.0" />
<arg name="approx_sync" default="true"/>
<arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="/scan"/>
<arg name="subscribe_scan_cloud" default="true"/>
<arg name="scan_cloud_topic" default="/os1_cloud_node/points"/>
<arg name="scan_cloud_max_points" default="0"/>
<arg name="scan_cloud_filtered" default="false"/>
<arg name="visual_odometry" default="true"/>
<arg name="icp_odometry" default="true"/>
<arg name="args" default=""/>
<arg name="rtabmap_args" default="$(arg args)"/>
<arg name="launch_prefix" default=""/>
<arg name="odom_topic" default="/odom"/>
<arg name="vo_frame_id" default="$(arg odom_topic)"/>
<arg name="publish_tf_odom" default="true"/>
<arg name="odom_tf_angular_variance" default="1"/>
<arg name="odom_tf_linear_variance" default="1"/>
<arg name="odom_args" default=""/>
<arg name="odom_sensor_sync" default="false"/>
<arg name="odom_guess_frame_id" default=""/>
<arg name="odom_guess_min_translation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="imu_topic" default="/os1_cloud_node/imu/data"/>
<arg name="wait_imu_to_init" default="true"/>
<arg name="publish_tf_map" default="true"/>
<arg name="stereo_namespace" default="/stereo_camera"/>
<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" />
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<arg name="stereo" default="false"/>
<arg if="$(arg stereo)" name="depth" default="false"/>
<arg unless="$(arg stereo)" name="depth" default="true"/>
<arg name="compressed" default="false"/>
<arg name="rgb_image_transport" default="compressed"/>
<arg name="depth_image_transport" default="compressedDepth"/>
<arg if="$(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="$(arg rgbd_topic)_relay"/>
<group ns="$(arg namespace)">
<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:=$(arg depth_topic_relay)" />
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(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)"/>
</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:=$(arg right_image_topic_relay)" />
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(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="$(arg rgbd_topic_relay)"/>
</node>
</group>
</group>
<group unless="$(arg rgbd_sync)">
<group if="$(arg subscribe_rgbd)">
<node name="republish_rgbd_image" type="rgbd_relay" pkg="rtabmap_ros">
<remap if="$(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)"/>
</node>
</group>
</group>
<node if="$(arg rviz)" pkg="ouster_ros" name="viz_node" type="viz_node" output="screen" required="true">
<remap from="~/os1_config" to="/os1_node/os1_config"/>
<remap from="~/points" to="/os1_cloud_node/points"/>
</node>
<node if="$(arg image)" pkg="ouster_ros" name="img_node" type="img_node" output="screen" required="true">
<remap from="~/os1_config" to="/os1_node/os1_config"/>
<remap from="~/points" to="/os1_cloud_node/points"/>
</node>
<!-- IMU orientation estimation and publish tf accordingly to os1_sensor frame -->
<node pkg="nodelet" type="nodelet" name="imu_nodelet_manager" args="manager">
<remap from="imu" to="/os1_cloud_node/imu"/>
</node>
<node pkg="nodelet" type="nodelet" name="imu_filter" args="load imu_filter_madgwick/ImuFilterNodelet imu_nodelet_manager">
<param name="use_mag" value="true"/>
<param name="world_frame" value="enu"/>
<param name="publish_tf" value="false"/>
</node>
<node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_node">
<param name="use_mag" value="true"/>
<param name="publish_tf" value="false"/>
<param name="world_frame" value="enu"/>
<remap from="/imu/data_raw" to="/os1_cloud_node/imu/data_raw"/>
<remap from="/imu/data" to="/os1_cloud_node/imu/data"/>
</node>
<node pkg="nodelet" type="nodelet" name="imu_to_tf" args="load rtabmap_ros/imu_to_tf imu_nodelet_manager">
<remap from="imu/data" to="/os1_cloud_node/imu/data"/>
<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
<param name="base_frame_id" value="$(arg frame_id)"/>
</node>
<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="rgbd_image"/> <!-- output -->
<param name="approx_sync" type="bool" value="true"/> <!-- false for realsense -->
</node>
<node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" 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)"/>
<remap from="imu" to="/os1_cloud_node/imu/data"/>
<param name="guess_frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_imu_to_init" type="bool" value="false"/>
<param name="Reg/Strategy" type="string" value="1"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="subscribe_rgbd" type="bool" value="false"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="scan_cloud_max_points" value="32768"/> <!-- based on os-1 spec: 327,680 pts/second for 10 Hz -->
<remap from="odom" to="/odom"/>
<remap from="scan_cloud" to="/os1_cloud_node/points"/>
<remap from="rgbd_image" to="rgbd_image"/>
<!-- RTAB-Map's parameters -->
<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="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 1=ICP -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/MinInliers" type="string" value="15"/>
<param name="Rtabmap/TimeThr" type="string" value="0"/> <!-- set to 0 to disable memory management -->
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Grid/CellSize" type="string" value="0.05"/> <!-- 5cm voxel default-->
<param name="Kp/MaxFeatures" type="string" value="400"/>
<param name="Optimizer/Strategy" type="string" value="1"/> <!-- 0 is TORO, Default G20-->
<param name="RGBD/OptimizeMaxError" type="string" value="1"/> <!--When using TORO, seto to 0,otherwise set to 1-->
<param name="Kp/DetectorStrategy" type="string" value="6"/> <!--0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF(default) 7=BRISK 8=GFTT/ORB 9=KAZE-->
<param name="Grid/FromDepth" type="string" value="true"/> <!--suppress warning (subscribe_scan=true)-->
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/> <!--suppress warning (subscribe_scan = true and Reg/Strategy=1-->
<param name="Vis/FeatureType" type="string" value="6"/> <!--suppress warning,want to be same as KP/detectorstrategy -->
<!-- param name="Mem/LaserScanVoxelSize" type="string" value="0.1"/ -->
<!-- param name="Mem/LaserScanNormalK" type="string" value="10"/ -->
<!-- param name="Mem/LaserScanRadius" type="string" value="0"/ -->
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Grid/CellSize" type="string" value="0.1"/>
<param name="Grid/RangeMax" type="string" value="20"/>
<param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
<param name="Grid/FromDepth" type="string" value="true"/>
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/MaxTranslation" type="string" value="3"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.4"/>
</node>
<node pkg="nodelet" type="nodelet" name="point_cloud_assembler" args="standalone rtabmap_ros/point_cloud_assembler" output="screen">
<param if="$(arg scan_20_hz)" name="max_clouds" type="int" value="20" />
<param unless="$(arg scan_20_hz)" name="max_clouds" type="int" value="10" />
<param name="fixed_frame_id" type="string" value="base_link" />
<remap from="cloud" to="/os1_cloud_node/points"/>
<remap from="odom" to="/odom"/>
</node>
<node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="/odom"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="true"/>
<remap from="scan_cloud" to="/os1_cloud_node/points"/>
<remap from="odom" to="odom"/>
<param name="subscribe_depth" value="false"/>
</node>
</group>
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" />
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="map_to_odom" args="0 0 0 0 0 0 1 map odom" />
<node pkg="tf2_ros" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 1 odom base_link" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_os1_sensor" args="0 0 0 0 0 0 1 base_link os1_sensor" />
<node pkg="tf2_ros" type="static_transform_publisher" name="os1_sensor_to_os1_lidar" args="0 0 0 0 0 0 1 os1_sensor os1_lidar" />
<node pkg="tf2_ros" type="static_transform_publisher" name="os1_sensor_to_os1_imu" args="0 0 0 0 0 0 1 os1_sensor os1_imu" />
</group>
</launch> [ INFO] [1596744081.894361327]: rtabmap (1177): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0545s, Maps update=0.0026s pub=0.0000s (local map=88, WM=88) [ INFO] [1596744081.933717591]: Odom: ratio=0.998808, std dev=0.009545m|0.009545rad, update time=0.003495s [ WARN] (2020-08-06 21:01:21.942) util3d.cpp:486::cloudFromDepthRGB() Decimation (4) is not valid for current image size (depth=4x3). Highest compatible decimation used=1. [ WARN] (2020-08-06 21:01:21.942) util3d.cpp:604::cloudFromDepthRGB() Cloud with only NaN values created! [ INFO] [1596744082.035554965]: Odom: ratio=0.998805, std dev=0.009056m|0.009056rad, update time=0.003423s [ INFO] [1596744082.139224506]: Odom: ratio=0.998808, std dev=0.009064m|0.009064rad, update time=0.003504s    
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Re: Problems with launch and mapping
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Administrator
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Re: Problems with launch and mapping
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Apologies for the huge delay in replying. I've attached a link to my dropbox folder with some db files of my attempts at lidar mapping in woodland. There's still some serious problems with odom and actually getting a decent cloud but i feel i'm getting ever closer. Would you be able to offer any advice as to where i'm going wrong? I'm using the gen1 os1-32. I will look to amend the synch problem for fusion. Is it the one mentioned in one of the posts in the forum or on github? I did read one recently.
https://www.dropbox.com/sh/r872fydiaq83hgd/AABPwGjd9N-gwXxyC--HMSUva?dl=0 On a better note i've successfully started my field work with the realsense mapping and i'm really happy with the outputs so far. Thanks Dan    
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Re: Problems with launch and mapping
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Re: Problems with launch and mapping
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Administrator
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This post was updated on .
Hi,
First you should remove those static transforms: This is already published by rtabmap: <node pkg="tf2_ros" type="static_transform_publisher" name="map_to_odom" args="0 0 0 0 0 0 1 map odom" /> This is already published by odometry: <node pkg="tf2_ros" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 1 odom base_link" /> This is already published by ouster launch: <node pkg="tf2_ros" type="static_transform_publisher" name="os1_sensor_to_os1_lidar" args="0 0 0 0 0 0 1 os1_sensor os1_lidar" /> This is already published by ouster launch: <node pkg="tf2_ros" type="static_transform_publisher" name="os1_sensor_to_os1_imu" args="0 0 0 0 0 0 1 os1_sensor os1_imu" /> Publishing odom->base_link with always Identitfy will confuse rtabmap by adding the points cloud sometimes with the real odometry odom->base_link from icp_odometry, or the Identity from the static transform as both are publishing on same TF frames. In rtabmap-databaseViewer -> Constraints View, we can see that some neighbor links are correct, while others are not, depending on which TF has been used by rtabmap. If you are using ouster alone, like in this post, you may don't need to apply the patch to fix the timestamps. With rtabmap-databaseViewer, I manually fixed all neighbor links for one ouster database. Here is the map before and after correct transforms. Before:  After:    Parameters I used on ouster database: Icp/MaxCorrespondenceDistance=1 Icp/PMOutlierRatio=0.6 Icp/RangeMax=0 Icp/CorrespondenceRatio=0.1 For the realsense database, the map looks indeed good:  However, there is a lot of interpolation in the images. Which realsense are you using? I think there are parameters in realsense camera node to avoid interpolating as much.  Regards, Mathieu |
Re: Problems with launch and mapping
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Re: Problems with launch and mapping
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Re: Problems with launch and mapping
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This post was updated on .
In reply to this post by matlabbe
Hi Mathieu,
Heres and update to my lidar mapping. Using a new dataset and having a few day tinkering with settings i was able to produce this map on first pass offline processing with Rtab. Although i do get this error: [pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.[pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.[ WARN] (2020-11-26 12:34:47.325) util3d.cpp:604::cloudFromDepthRGB() Cloud with only NaN values created! [pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.[ WARN] (2020-11-26 12:34:48.427) util3d.cpp:604::cloudFromDepthRGB() Cloud with only NaN values created! Would you have any idea which parameter i need to change or if theres anything that may increase accuracy even more prior to post-processing and using DB viewer? One problem i've also noticed is how the odom jumps around a lot. Could this be due to the ouster/ros timing? Would setting to TIME_FROM_INTERNAL_OSC to TIME_FROM_PTP_1588 help when collecting data? I have played around with Hz inputs. Other things i may need a little info on: Decimation voxel Iterations Downsampling Is it better to run a DB file without voxelisation first considering it can be done when exporting to ply file? I've added the newest and original db's, ply and rtab settings ini. https://www.dropbox.com/sh/r872fydiaq83hgd/AABPwGjd9N-gwXxyC--HMSUva?dl=0 Also thanks for a great mapping software and all of your help so far. Dan   |
Re: Problems with launch and mapping
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Administrator
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