Using rtabmap visual slam using zed2i camera
Posted by impressivetoken on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-rtabmap-visual-slam-using-zed2i-camera-tp9607.html
Hello!
I have been working on slam for outdoor environment using zed2i camera and the zed-ros-examples github repo (used to be known as zed-wrapper but now has been bifurgated to zed-ros-wrapper and zed-ros-examples)
Under zed-ros-examples i have come across the zed-rtabmap-example folder that can be used for doing the above task mentioned.
i have been getting okayish results so far.
I'm able to plot the map pretty satisfactorily but one of the problems ive been facing is that the it overdoes its turns i.e., if i try taking a 90 degree turn, it shows it takes a turn which is greater than 90 degrees which kinda messes up my map.
i want my map to be near perfect cause i will be using it for navigation of a relatively bigger vehicle and there can be no room for errors. Unfortunately i dont have any pictures of that happening but I hope i'm making sense so that you can understand it well.
One more problem that im facing is that while localization, even though it is comparing the right frame to the real time frame, it shows "loop closure hypothesis rejected" way too many times which makes the vehicle loose its track and i recieve not very accurate results.
i'm very new to this right now so please bare with me.
Below is my zed_rtabmap.launch file
<launch>
<arg name="svo_file" default="" />
<arg name="stream" default="" />
<arg name="zed_node_name" default="zed_node" />
<arg name="camera_model" default="zed2" />
<arg name="publish_urdf" default="true" />
<arg name="camera_name" default="zed" />
<arg name="base_frame" default="base_link" />
<group ns="$(arg camera_name)">
<include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
<arg name="camera_name" value="$(arg camera_name)" />
<arg name="svo_file" value="$(arg svo_file)" />
<arg name="stream" value="$(arg stream)" />
<arg name="node_name" value="$(arg zed_node_name)" />
<arg name="camera_model" value="$(arg camera_model)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="publish_urdf" value="$(arg publish_urdf)" />
</include>
<arg name="custom_rtabmap_launch_file" default="$(find zed_rtabmap_example)/launch/include/sl_rtabmap.launch.xml"/>
<include file="$(arg custom_rtabmap_launch_file)">
<arg name="odom_topic" default="$(arg zed_node_name)/odom" />
<arg name="rgb_topic" default="$(arg zed_node_name)/rgb/image_rect_color" />
<arg name="depth_topic" default="$(arg zed_node_name)/depth/depth_registered" />
<arg name="camera_info_topic" default="$(arg zed_node_name)/rgb/camera_info" />
<arg name="depth_camera_info_topic" default="$(arg zed_node_name)/depth/camera_info" />
</include>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_rtabmap_example)/rviz/zed-rtabmap.rviz" output="screen" />
</group>
</launch>
below is my sl_rtabmap.launch.xml file
<launch>
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
<arg name="rgb_topic" default="/zed/zed_node/rgb/image_rect_color" />
<arg name="depth_topic" default="/zed/zed_node/depth/depth_registered" />
<arg name="camera_info_topic" default="/zed/zed_node/rgb/camera_info" />
<arg name="depth_camera_info_topic" default="/zed/zed_node/depth/camera_info" />
<arg name="odom_topic" default="/zed/zed_node/odom" />
<node name="rtabmap_viz" pkg="rtabmap_viz" type="rtabmap_viz" output="screen" args="" launch-prefix="">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="grid_map" to="map" />
<remap from="odom" to="$(arg odom_topic)"/>
</node>
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg args)" launch-prefix="">
<rosparam command="load" file="$(find zed_rtabmap_example)/params/rtabmap.yaml" />
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="grid_map" to="map" />
<remap from="odom" to="$(arg odom_topic)"/>
</node>
</launch>
below is my rtabmap.yaml file
# RTAB-Map configuration
subscribe_depth: true
subscribe_rgbd: false
subscribe_stereo: false
subscribe_stereo: false
subscribe_scan: false
subscribe_scan_cloud: false
subscribe_user_data: false
subscribe_odom_info: false
database_path: "~/.ros/rtabmap.db"
config_path: "~/.ros/rtabmap.cfg"
frame_id: "base_link"
map_frame_id: "map"
odom_frame_id: "odom" # odometry from odom msg to have covariance - Remapped by launch file
odom_tf_angular_variance: 0.001 # If TF is used to get odometry, this is the default angular variance
odom_tf_linear_variance: 0.001 # If TF is used to get odometry, this is the default linear variance
tf_delay: 0.02
publish_tf: false # Set to false if fusing different poses (map->odom) with UKF
odom_sensor_sync: true
wait_for_transform_duration: 0.2
approx_sync: true
queue_size: 10
scan_normal_k: 0
Grid:
3D: true
FlatObstacleDetected: true
MapFrameProjection: false
GroundIsObstacle: false
PreVoxelFiltering: true
RayTracing: true
FromDepth: true
NormalsSegmentation: false
CellSize: 0.05
ClusterRadius: 0.1
MinClusterSize: 3
DepthDecimation: 1
DepthRoiRatios: [0.0, 0.0, 0.0, 0.0]
FootprintHeight: 2.0
FootprintLength: 0.18
FootprintWidth: 0.18
MaxGroundAngle: 30.0
MinGroundHeight: -0.5
MaxGroundHeight: -0.4
MaxObstacleHeight: 0.1
NoiseFilteringMinNeighbors: 5
NoiseFilteringRadius: 0.1
NormalK: 20
RangeMin: 0.7
RangeMax: 3.0
GridGlobal:
Eroded: false # Erode obstacle cells
FootprintRadius: 0.18 # Footprint radius (m) used to clear all obstacles under the graph
FullUpdate: true # When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Also, data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not
MaxNodes: 0 # Maximum nodes assembled in the map starting from the last node (0=unlimited)
MinSize: 1.0 # Minimum map size (m)
OccupancyThr: 0.55 # Occupancy threshold (value between 0 and 1)
ProbClampingMax: 0.971 # Probability clamping maximum (value between 0 and 1)
ProbClampingMin: 0.1192 # Probability clamping minimum (value between 0 and 1)
ProbHit: 0.7 # Probability of a hit (value between 0.5 and 1)
ProbMiss: 0.4 # Probability of a miss (value between 0 and 0.5)
UpdateError: 0.01 # Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value
I am also facing huge z axis drifts while mapping. Is there any way i can rectify that as well?
I would also like to know how to go ahead from here if i'm making any mistakes.
please let me know if there are any advices and any changes that can be made as it would be of great great help.
Thanking you in advance!
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-rtabmap-visual-slam-using-zed2i-camera-tp9607.html
Hello!
I have been working on slam for outdoor environment using zed2i camera and the zed-ros-examples github repo (used to be known as zed-wrapper but now has been bifurgated to zed-ros-wrapper and zed-ros-examples)
Under zed-ros-examples i have come across the zed-rtabmap-example folder that can be used for doing the above task mentioned.
i have been getting okayish results so far.
I'm able to plot the map pretty satisfactorily but one of the problems ive been facing is that the it overdoes its turns i.e., if i try taking a 90 degree turn, it shows it takes a turn which is greater than 90 degrees which kinda messes up my map.
i want my map to be near perfect cause i will be using it for navigation of a relatively bigger vehicle and there can be no room for errors. Unfortunately i dont have any pictures of that happening but I hope i'm making sense so that you can understand it well.
One more problem that im facing is that while localization, even though it is comparing the right frame to the real time frame, it shows "loop closure hypothesis rejected" way too many times which makes the vehicle loose its track and i recieve not very accurate results.
i'm very new to this right now so please bare with me.
Below is my zed_rtabmap.launch file
<launch>
<arg name="svo_file" default="" />
<arg name="stream" default="" />
<arg name="zed_node_name" default="zed_node" />
<arg name="camera_model" default="zed2" />
<arg name="publish_urdf" default="true" />
<arg name="camera_name" default="zed" />
<arg name="base_frame" default="base_link" />
<group ns="$(arg camera_name)">
<include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
<arg name="camera_name" value="$(arg camera_name)" />
<arg name="svo_file" value="$(arg svo_file)" />
<arg name="stream" value="$(arg stream)" />
<arg name="node_name" value="$(arg zed_node_name)" />
<arg name="camera_model" value="$(arg camera_model)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="publish_urdf" value="$(arg publish_urdf)" />
</include>
<arg name="custom_rtabmap_launch_file" default="$(find zed_rtabmap_example)/launch/include/sl_rtabmap.launch.xml"/>
<include file="$(arg custom_rtabmap_launch_file)">
<arg name="odom_topic" default="$(arg zed_node_name)/odom" />
<arg name="rgb_topic" default="$(arg zed_node_name)/rgb/image_rect_color" />
<arg name="depth_topic" default="$(arg zed_node_name)/depth/depth_registered" />
<arg name="camera_info_topic" default="$(arg zed_node_name)/rgb/camera_info" />
<arg name="depth_camera_info_topic" default="$(arg zed_node_name)/depth/camera_info" />
</include>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_rtabmap_example)/rviz/zed-rtabmap.rviz" output="screen" />
</group>
</launch>
below is my sl_rtabmap.launch.xml file
<launch>
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
<arg name="rgb_topic" default="/zed/zed_node/rgb/image_rect_color" />
<arg name="depth_topic" default="/zed/zed_node/depth/depth_registered" />
<arg name="camera_info_topic" default="/zed/zed_node/rgb/camera_info" />
<arg name="depth_camera_info_topic" default="/zed/zed_node/depth/camera_info" />
<arg name="odom_topic" default="/zed/zed_node/odom" />
<node name="rtabmap_viz" pkg="rtabmap_viz" type="rtabmap_viz" output="screen" args="" launch-prefix="">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="grid_map" to="map" />
<remap from="odom" to="$(arg odom_topic)"/>
</node>
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg args)" launch-prefix="">
<rosparam command="load" file="$(find zed_rtabmap_example)/params/rtabmap.yaml" />
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="grid_map" to="map" />
<remap from="odom" to="$(arg odom_topic)"/>
</node>
</launch>
below is my rtabmap.yaml file
# RTAB-Map configuration
subscribe_depth: true
subscribe_rgbd: false
subscribe_stereo: false
subscribe_stereo: false
subscribe_scan: false
subscribe_scan_cloud: false
subscribe_user_data: false
subscribe_odom_info: false
database_path: "~/.ros/rtabmap.db"
config_path: "~/.ros/rtabmap.cfg"
frame_id: "base_link"
map_frame_id: "map"
odom_frame_id: "odom" # odometry from odom msg to have covariance - Remapped by launch file
odom_tf_angular_variance: 0.001 # If TF is used to get odometry, this is the default angular variance
odom_tf_linear_variance: 0.001 # If TF is used to get odometry, this is the default linear variance
tf_delay: 0.02
publish_tf: false # Set to false if fusing different poses (map->odom) with UKF
odom_sensor_sync: true
wait_for_transform_duration: 0.2
approx_sync: true
queue_size: 10
scan_normal_k: 0
Grid:
3D: true
FlatObstacleDetected: true
MapFrameProjection: false
GroundIsObstacle: false
PreVoxelFiltering: true
RayTracing: true
FromDepth: true
NormalsSegmentation: false
CellSize: 0.05
ClusterRadius: 0.1
MinClusterSize: 3
DepthDecimation: 1
DepthRoiRatios: [0.0, 0.0, 0.0, 0.0]
FootprintHeight: 2.0
FootprintLength: 0.18
FootprintWidth: 0.18
MaxGroundAngle: 30.0
MinGroundHeight: -0.5
MaxGroundHeight: -0.4
MaxObstacleHeight: 0.1
NoiseFilteringMinNeighbors: 5
NoiseFilteringRadius: 0.1
NormalK: 20
RangeMin: 0.7
RangeMax: 3.0
GridGlobal:
Eroded: false # Erode obstacle cells
FootprintRadius: 0.18 # Footprint radius (m) used to clear all obstacles under the graph
FullUpdate: true # When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Also, data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not
MaxNodes: 0 # Maximum nodes assembled in the map starting from the last node (0=unlimited)
MinSize: 1.0 # Minimum map size (m)
OccupancyThr: 0.55 # Occupancy threshold (value between 0 and 1)
ProbClampingMax: 0.971 # Probability clamping maximum (value between 0 and 1)
ProbClampingMin: 0.1192 # Probability clamping minimum (value between 0 and 1)
ProbHit: 0.7 # Probability of a hit (value between 0.5 and 1)
ProbMiss: 0.4 # Probability of a miss (value between 0 and 0.5)
UpdateError: 0.01 # Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value
I am also facing huge z axis drifts while mapping. Is there any way i can rectify that as well?
I would also like to know how to go ahead from here if i'm making any mistakes.
please let me know if there are any advices and any changes that can be made as it would be of great great help.
Thanking you in advance!
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