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Cartographer SLAM: Updated instructions for Non-GPS navigation #4382

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Jun 23, 2022
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Cartographer SLAM: Updated instructions for Non-GPS navigation #4382

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97 changes: 53 additions & 44 deletions dev/source/docs/ros-cartographer-slam.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -46,14 +46,14 @@ Install more packages

::

sudo apt-get install ros-kinetic-desktop
sudo apt-get install ros-<distro>-desktop

- OR install each of these individual packages (this list is not yet complete):

::

sudo apt-get install ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-laser-geometry
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-image-transport
sudo apt-get install ros-<distro>-tf ros-<distro>-tf-conversions ros-<distro>-laser-geometry
sudo apt-get install ros-<distro>-cv-bridge ros-<distro>-image-transport
sudo apt-get install qt4-qmake qt4-dev-tools
sudo apt-get install protobuf-compiler

Expand Down Expand Up @@ -142,8 +142,8 @@ Copy-paste the contents below into the file
type="cartographer_node"
args="-configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename cartographer.lua"
output="screen">
<remap from=”odom” to “/mavros/local_position/odom” />
<remap from=”imu” to “/mavros/imu/data” />
<remap from="odom" to "/mavros/local_position/odom" />
<remap from="imu" to "/mavros/imu/data" />
</node>
<node name="cartographer_occupancy_grid_node"
pkg="cartographer_ros"
Expand Down Expand Up @@ -171,52 +171,55 @@ Copy-paste the contents below into the file
include "trajectory_builder.lua"

options = {

map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
publish_frame_projected_to_2d = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
rangefinder_sampling_ratio = 1,
odometry_sampling_ratio = 1,
fixed_frame_pose_sampling_ratio = 1,
imu_sampling_ratio = 1,
landmarks_sampling_ratio = 1,
num_point_clouds = 0,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
publish_frame_projected_to_2d = false,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
num_point_clouds = 0,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1.,
fixed_frame_pose_sampling_ratio = 1.,
imu_sampling_ratio = 1.,
landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.min_range = 0.05
TRAJECTORY_BUILDER_2D.max_range = 30
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5
TRAJECTORY_BUILDER_2D.use_imu_data = false

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 10

TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 0.2
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 5

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1

TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 1.

TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 10
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)
-- for current lidar only 1 is good value
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1

TRAJECTORY_BUILDER_2D.min_z = -0.5
TRAJECTORY_BUILDER_2D.max_z = 0.5

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 30

return options

Expand Down Expand Up @@ -279,19 +282,25 @@ Start mavros as described on the :ref:`Connecting with ROS page <ros-connecting>
.. code-block:: bash

roslaunch mavros apm.launch fcu_url:=udp://:14855@


Configure ArduPilot
-------------------

Connect to the flight controller with a ground station (i.e. Mission Planner) and check that the following parameters are set as shown below:

- :ref:`AHRS_EKF_TYPE <copter:AHRS_EKF_TYPE>` = 2 (the default) to use EKF2 (at the time this page was written the EKF3 did not yet support external position estimates)
- :ref:`EK2_ENABLE <copter:EK2_ENABLE>` = 1 (the default)
- :ref:`EK3_ENABLE <copter:EK3_ENABLE>` = 0 (the default)
- :ref:`AHRS_EKF_TYPE <copter:AHRS_EKF_TYPE>` = 3 to use EKF3
- :ref:`EK2_ENABLE <copter:EK2_ENABLE>` = 0 to disable EKF2
- :ref:`EK3_ENABLE <copter:EK3_ENABLE>` = 1 to enable EKF3
- :ref:`EK3_SRC1_POSXY <copter:EK3_SRC1_POSXY>` = 6 to set position horizontal source to ExternalNAV
- :ref:`EK3_SRC1_POSZ <copter:EK3_SRC1_POSZ>` = 1 to set position vertical source to Baro
- :ref:`EK3_SRC1_VELXY <copter:EK3_SRC1_VELXY>` = 6 to set velocity horizontal source to ExternalNAV
- :ref:`EK3_SRC1_VELZ <copter:EK3_SRC1_VELZ>` = 6 to set vertical velocity source to ExternalNAV
- :ref:`EK3_SRC1_YAW <copter:EK3_SRC1_YAW>` = 6 to set yaw source to ExternalNAV
- :ref:`GPS_TYPE <copter:GPS_TYPE>` = 0 to disable the GPS
- :ref:`VISO_TYPE <copter:VISO_TYPE>` = 1 to enable visual odometry
- :ref:`EK2_GPS_TYPE <copter:EK2_GPS_TYPE>` = 3 to disable the EKF's use of the GPS
- :ref:`COMPASS_ENABLE<copter:COMPASS_ENABLE>` = 0, :ref:`COMPASS_USE <copter:COMPASS_USE>` = 0, :ref:`COMPASS_USE2 <copter:COMPASS_USE2>` = 0, :ref:`COMPASS_USE3 <copter:COMPASS_USE3>` = 0 to disable the EKF's use of the compass and instead rely on the heading from ROS and Cartographer SLAM
- :ref:`ARMING_CHECK <copter:ARMING_CHECK>` = 388598 (optional, to disable GPS checks)


After changing any of the values above, reboot the flight controller.

Expand Down