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Support localization #315
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I am calling this done. It requires some way of actually enabling it for a trajectory in cartographer_ros, but the functionality is now in Cartographer. |
This implements loading of serialized maps in 2D: We insert all submaps at the serialized optimized pose into the pose graph and remove their poses from the optimization. Related to cartographer-project#197 and cartographer-project#315.
Hi, however, after running the launch file, the submap created by the cartographer and my full map do not match. |
Just continue driving for a bit and it should converge eventually. You should maybe also reduce the |
@sradmard How did you create the map? If you use Cartographer, you can write out a You cannot use |
Thank you for your quick responses. Am I providing wrong arguments to my service calls, or is there another way to save the map into a .pbstream file. |
@sradmard Please call service "write_state" (cartographer_ros_msgs/WriteState) provided by cargotrapher_ROS' node_main to save the map into a .pbstream file. this API already shows in cartographer_ros's main page. |
When in pure localization mode, does the Cartographer use the incoming IMU and relative position data? Or does it only use the laser scan data when localizing? |
I have been able to run it with and without IMU in pure localization. However, I realized that when IMU is disabled, you really need to move the robot around very slowly, and with IMU enabled the localization can still catch up with higher speeds. I would still appreciate any feedback from the amazing Google team on the best approach to tune the parameters to speed up the localization. |
Localization is just multi-trajectory SLAM. Assuming you map and then localize with the same platform, the configuration shouldn't change much and all the same sensor data will be used. @sradmard if you're having performance issues with localization, please open a new issue. |
Hi, |
@sradmard , may i ask did you get the correct localization just use a 2D radiar ???? if so , could you please give more details about it . i would appreciate if if you could give more info |
@yinnxinn sorry for the late response. Yes, I got it working with both a depth camera, and just recently with a 2D 360 lidar. I would totally recommend using the lidar option though, as it works greatly.
Take a look at demo_backpack_2d_localization.launch under cartographer_ros, and compare it to demo_backpack_2d.launch. That would basically guide you on how to implement your Localization. |
Hi all |
Hi all, Hi @sradmard Now you can use the Ogm2Pgbm package to do the conversion from If haven't compiled cartographer already, you can follow the provided instructions in the readme. It will allow you to compile everything in one isolated container. Otherwise you can also use the package as a normal separated catkin package. Have fun, and enjoy the power of graph-based localization! :D |
The idea is to have a trajectory builder doing pure localization. Other trajectories contain the map data. To avoid a growing SLAM problem, only a few submaps of the localization trajectory are kept.
This depends on #283. Also see cartographer-project/cartographer_ros#95.
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