These packages can be used to perform mapping of the magnetic field using Gaussian Processes in ROS2 in psuedo real-time. Below you can find a description of various contents of this package.
Launches the magnetic field mapping node (magmap) with the parameters set in magslam/config/magmap.yaml. Magnetic field messages are expected as sensor_msgs/MagneticField, positions are obtained as a transform between two frames using TF2. These can be set in the config file.
The magmap node mode can be set using the magmap/mode topic of type std_msgs/String, possible modes are:
- Train: Create a map
- Test: Verify map against actual measurements
- None
A log is written to maglog.csv in the current folder. Each row contains the following data:
| Transform | Magnetic field | Magnetic field estimate (test only) | ||||||||||||||||||
| Timestamp | Position | Rotation | Timestamp | Robot | World | Mean | Covariance | |||||||||||||
| X | Y | Z | X | Y | Z | W | X | Y | Z | X | Y | Z | X | Y | Z | X | Y | Z | ||
Launches the magnetic field visualisation node (magview) with the parameters set in magslam/config/magview.yaml. The sensor_frame and world_frame parameters should be set to the same values as in magslam/config/magmap.yaml.
While magview is running each frame is saved to mapframes/frame/[number].png relative to the current folder. Frames without the traveled path overlay are saved to mapframes/nopath/frame[number]_[stamp].png.
Launches the csv_feed node with the parameters set in magslam/config/csv_feed.yaml. This can be used to simulate magnetic field data comming in by reading it from a CSV file and publishing it, this allows magmap and magview to be testeds without a robot.
The driver node can be used to command a ground robot to drive along a predetermined mapping path. The pose is obtained as a geometery_msgs/PoseStamped from Robot_1/pose. The drive commands are published as a geometry_msgs/Twist to cmd/vel. Three launch files with preset paths are included:
- rectangle.launch.py
- rectangle_invert.launch.py
- grid.launch.py
This package contains the custom message types and services used by the magslam package.