Re: Ouster launch failing
Posted by
denzle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Ouster-launch-failing-tp9109p9117.html
Just in case its any help i've made a short bag file (zipped) at home which i've put in my dropbox (
https://www.dropbox.com/sh/z173th1w12nmpzb/AADdVqj8WNDbReNUyQX-l7MVa?dl=0) and added my amended launch file below.
EDIT So from some more tinkering it appears the problem stemmed from having the 'use_mag' set to true and the most recent error appears to have gone.....for now!
Although if you have a moment to have a look over the rosbag to see where i could improve my pointcloud data i would be most grateful. Having mapped woodlands and written up my finding i'm now moving on to bat surveying using LiDAR/RTAB-ros. So one key element is the ability to pick up fast moving bats. Would there be any parameters i could change to increase the detection of small objects flying through the sensors FoV. The sensor will likely be static for the most part. Once i've had chance to get in the field i'll add another rosbag.
Cheers
Dan
<?xml version="1.0"?>
<launch>
<!--
Hand-held 3D lidar mapping example using only a Ouster GEN2 (no camera).
Prerequisities: rtabmap should be built with libpointmatcher
Example:
$ roslaunch rtabmap_ros test_ouster_gen2.launch sensor_hostname:=os-XXXXXXXXXXXX.local udp_dest:=192.168.1.XXX
$ rosrun rviz rviz -f map
RVIZ: Show TF and /rtabmap/cloud_map topics
ISSUE: You may have to reset odometry after receiving the first cloud if the map looks tilted. The problem seems
coming from the first cloud sent by os_cloud_node, which may be poorly synchronized with IMU data.
PTP mode (synchronize timestamp with host computer time)
* Install:
$ sudo apt install linuxptp httpie
$ printf "[global]\ntx_timestamp_timeout 10\n" >> ~/os.conf
* Running:
(replace "XXXXXXXXXXXX" by your ouster serial, as well as XXX by its IP address)
(replace "eth0" by the network interface used to communicate with ouster)
$ http PUT http://os-XXXXXXXXXXXX.local/api/v1/time/ptp/profile <<< '"default-relaxed"'
$ sudo ptp4l -i eth0 -m -f ~/os.conf -S
$ roslaunch rtabmap_ros test_ouster_gen2.launch sensor_hostname:=os-XXXXXXXXXXXX.local udp_dest:=192.168.1.XXX ptp:=true
-->
<!-- Required: -->
<arg name="sensor_hostname" default="os-122105000261.local"/>
<arg name="udp_dest" default="169.254.255.255"/>
<arg name="use_sim_time" default="false"/>
<arg name="frame_id" default="os_sensor"/>
<arg name="rtabmapviz" default="true"/>
<arg name="scan_20_hz" default="true"/>
<arg name="voxel_size" default="0.3"/> <!-- indoor: 0.1 to 0.3, outdoor: 0.3 to 0.5 -->
<arg name="assemble" default="false"/>
<arg name="ptp" default="true"/> <!-- See comments in header to start before launching the launch -->
<arg name="distortion_correction" default="false"/> <!-- Requires this pull request: https://github.com/ouster-lidar/ouster_example/pull/245 -->
<param if="$(arg use_sim_time)" name="use_sim_time" value="false"/>
<!-- IMU orientation estimation and publish tf accordingly to os_sensor frame -->
<node pkg="nodelet" type="nodelet" name="imu_nodelet_manager" args="manager">
<remap from="imu/data_raw" to="/os_cloud_node/imu"/>
<remap from="imu/data" to="/os_cloud_node/imu/data"/>
</node>
<node pkg="nodelet" type="nodelet" name="imu_filter" args="load imu_filter_madgwick/ImuFilterNodelet imu_nodelet_manager">
<param name="use_mag" value="true"/>
<param name="world_frame" value="enu"/>
<param name="publish_tf" value="false"/>
</node>
<node pkg="nodelet" type="nodelet" name="imu_to_tf" args="load rtabmap_ros/imu_to_tf imu_nodelet_manager">
<remap from="imu/data" to="/os_cloud_node/imu/data"/>
<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
<param name="base_frame_id" value="$(arg frame_id)"/>
</node>
<group ns="rtabmap">
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="/os_cloud_node/points"/>
<remap from="imu" to="/os_cloud_node/imu/data"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
<param name="wait_imu_to_init" type="bool" value="false"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="30"/>
<param name="Icp/VoxelSize" type="string" value="$(arg voxel_size)"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/MaxTranslation" type="string" value="0.2"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/Strategy" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.95"/>
<param name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg voxel_size)"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="scan_cloud_max_points" value="327680"/> <!-- based on os-1 spec: 327,680 pts/second for 10 Hz -->
<remap if="$(arg assemble)" from="scan_cloud" to="assembled_cloud"/>
<remap unless="$(arg assemble)" from="scan_cloud" to="/os_cloud_node/points"/>
<remap from="imu" to="/os_cloud_node/imu/data"/>
<!-- RTAB-Map's parameters -->
<param if="$(arg assemble)" name="Rtabmap/DetectionRate" type="string" value="0"/> <!-- already set 1 Hz in point_cloud_assembler -->
<param unless="$(arg assemble)" name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
<param name="RGBD/LocalRadius" type="string" value="2"/>
<param name="RGBD/AngularUpdate" type="string" value="0.05"/>
<param name="RGBD/LinearUpdate" type="string" value="0.05"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Mem/STMSize" type="string" value="30"/>
<!-- param name="Mem/LaserScanVoxelSize" type="string" value="0.1"/ -->
<!-- param name="Mem/LaserScanNormalK" type="string" value="10"/ -->
<!-- param name="Mem/LaserScanRadius" type="string" value="0"/ -->
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Optimizer/GravitySigma" type="string" value="0.5"/>
<param name="Optimizer/Strategy" type="string" value="1"/>
<param name="Grid/CellSize" type="string" value="0.1"/>
<param name="Grid/RangeMax" type="string" value="20"/>
<param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="$(arg voxel_size)"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<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/Strategy" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.2"/>
</node>
<node if="$(arg assemble)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" output="screen">
<remap from="cloud" to="/os_cloud_node/points"/>
<remap from="odom" to="odom"/>
<param name="assembling_time" type="double" value="1" />
<param name="fixed_frame_id" type="string" value="" />
</node>
<node if="$(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="/os_cloud_node/points"/>
</node>
</group>
</launch>