lidar_odometry_from_rosbag2.yaml

# -----------------------------------------------------------------------------
#                        SLAM system definition for MOLA
# This file defines:
# An input sensor from a ROS 2 bag file, and the MOLA Visualizer.
# -----------------------------------------------------------------------------

modules:
  # =====================
  # MolaViz
  # =====================
  - name: viz
    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
    enabled: ${MOLA_WITH_GUI|true}
    verbosity_level: "${MOLA_VERBOSITY_MOLA_VIZ|INFO}"
    params:
      imgui_app_name: lidar_odometry_from_rosbag2

  # =====================
  # LIDAR ODOMETRY
  # =====================
  - name: lidar_odom
    type: mola::LidarOdometry
    verbosity_level: "${MOLA_VERBOSITY_MOLA_LO|INFO}"
    raw_data_source: "dataset_input"
    # This includes here a whole block "params: (...)"
    # with the LIDAR-Odometry pipeline configuration:
    params: "${MOLA_ODOMETRY_PIPELINE_YAML|../pipelines/lidar3d-default.yaml}"

  # =====================
  # State Estimation
  # =====================
  - name: state_estimation
    type: "${MOLA_STATE_ESTIMATOR|mola::state_estimation_simple::StateEstimationSimple}"
    verbosity_level: "${MOLA_VERBOSITY_MOLA_STATE_ESTIMATOR|INFO}"
    raw_data_source: "dataset_input"

    # This includes here a whole block "params: (...)":
    params: "${MOLA_STATE_ESTIMATOR_YAML|../state-estimator-params/state-estimation-simple.yaml}"

  # =========================
  # Offline dataset source
  # =========================
  - type: mola::Rosbag2Dataset
    name: dataset_input
    verbosity_level: "${MOLA_VERBOSITY_ROSBAG2|INFO}"
    export_to_rawlog: ${MOLA_ROS2BAG_EXPORT_TO_RAWLOG_FILE|''}

    # In Rosbag2Dataset, this execution rate (Hz) determines the
    # maximum rate of publishing topics from the bag file.
    # If a message in the bag has an actually rate higher than this, their
    # messages will be still sent out with the correct timestamps, but physically
    # in bursts.
    execution_rate: 50 # Hz
    #verbosity_level: INFO
    quit_mola_app_on_dataset_end: ${MOLA_QUIT_ON_DATASET_END|false}

    # Optional visualization of raw sensor streams in the MolaViz GUI
    gui_preview_sensors:
      - raw_sensor_label: "${MOLA_LIDAR_NAME|lidar}"
        decimation: 1
        enabled: ${MOLA_WITH_GUI|true}
        win_pos: 5 5 400 400
      #- raw_sensor_label: '/ouster/range_image'
      #  decimation: 1
      #  win_pos: 5 420 400 400

    params:
      # We use an environment variable to force the user to specify a bag file:
      rosbag_filename: ${MOLA_INPUT_ROSBAG2}
      time_warp_scale: ${MOLA_TIME_WARP|1.0}
      start_paused: ${MOLA_DATASET_START_PAUSED|false}

      base_link_frame_id: "${MOLA_TF_BASE_LINK|base_link}"

      # /tf topic names in the bag. Override for namespaced bags,
      # e.g. MOLA_TF_TOPIC=/robot1/tf MOLA_TF_STATIC_TOPIC=/robot1/tf_static
      tf_topic: "${MOLA_TF_TOPIC|/tf}"
      tf_static_topic: "${MOLA_TF_STATIC_TOPIC|/tf_static}"

      # 'sensors' contains maps from output "sensorLabel"s, to the
      # configuration of that data source (mainly, 'type', 'topic'):
      # If no 'sensors' entry is given, all ROSBAG topics will be exposed
      # to the MOLA subsystem. Note that if you want to override sensor poses
      # (or if you do not have /tf), it is mandatory to define 'sensors' and
      # define 'fixed_sensor_pose' for each sensor here:
      sensors:
        - topic: ${MOLA_LIDAR_TOPIC|'/ouster/points'}
          type: CObservationPointCloud
          sensorLabel: "${MOLA_LIDAR_NAME|lidar}"
          # If present, this will override whatever /tf tells about the sensor pose:
          fixed_sensor_pose: "${LIDAR_POSE_X|0} ${LIDAR_POSE_Y|0} ${LIDAR_POSE_Z|0} ${LIDAR_POSE_YAW|0} ${LIDAR_POSE_PITCH|0} ${LIDAR_POSE_ROLL|0}" # 'x y z yaw_deg pitch_deg roll_deg'
          use_fixed_sensor_pose: ${MOLA_USE_FIXED_LIDAR_POSE|false}

        # For GPS messages of type 'sensor_msgs/NavSatFix' or 'gps_msgs/GpsFix'
        - topic: ${MOLA_GNSS_TOPIC|'/gps'}
          sensorLabel: "gps"
          #type: CObservationGPS  # This will be determined automatically by Rosbag2Dataset
          is_optional: true
          # If present, this will override whatever /tf tells about the sensor pose:
          fixed_sensor_pose: "${GNSS_POSE_X|0} ${GNSS_POSE_Y|0} ${GNSS_POSE_Z|0} ${GNSS_POSE_YAW|0} ${GNSS_POSE_PITCH|0} ${GNSS_POSE_ROLL|0}" # 'x y z yaw_deg pitch_deg roll_deg''
          use_fixed_sensor_pose: ${MOLA_USE_FIXED_GNSS_POSE|false}

        - topic: ${MOLA_IMU_TOPIC|'/imu'}
          sensorLabel: "imu"
          type: CObservationIMU
          # If present, this will override whatever /tf tells about the sensor pose:
          fixed_sensor_pose: "${IMU_POSE_X|0} ${IMU_POSE_Y|0} ${IMU_POSE_Z|0} ${IMU_POSE_YAW|0} ${IMU_POSE_PITCH|0} ${IMU_POSE_ROLL|0}" # 'x y z yaw_deg pitch_deg roll_deg''
          use_fixed_sensor_pose: ${MOLA_USE_FIXED_IMU_POSE|false}
          # If true, use the bag's own recv/storage time for this sensor's
          # observations instead of the ROS message header stamp. Workaround
          # for drivers that stamp with a monotonic/uptime clock instead of
          # wall-clock epoch time (seen with some IMU drivers), which
          # otherwise trips the "mis-timestamped sensors" time reference
          # reset. Default false.
          use_bag_recv_time_as_timestamp: ${MOLA_IMU_USE_BAG_RECV_TIME|false}

        # Wheel/robot odometry (disabled by default). CObservationOdometry is
        # planar: (x, y, yaw) plus a 2D twist. For a 3D odometry source
        # (legged robot, VIO, aerial platform) set
        # MOLA_ODOMETRY_OBS_CLASS=CObservationRobotPose to keep z, roll,
        # pitch and the source's 6x6 covariance, matching the offline CLI's
        # dataset_from_rosbag1()/dataset_from_rosbag2().
        - topic: ${MOLA_ODOMETRY_TOPIC|''}
          sensorLabel: ${MOLA_ODOM_SENSOR_LABEL|odom_wheels}
          type: ${MOLA_ODOMETRY_OBS_CLASS|CObservationOdometry}