slam_benchmark

Easy LIDAR-based bringup for mostly ROS SLAM and localization packages

SLAM packages in use - SLAM_type:

• gmapping
• hector_slam
• rtabmap
• rtabmap_broken
• octomap_mapping

Localization packages in use - localization_type:

• amcl
• als
• gmcl

How to use?

SLAM usage:

To try specific SLAM with your bag file and LIDAR scheme you should do this steps:

1. [in test_slam.launch] change configuration to match your lidar scheme.
2. [in slam_benchmark dir] mkdir bag_files
3. mv "your_bag_file".bag /path/to/your/bag/folder/bag_files
4. roslaunch slam_benchmark test_slam.launch SLAM_type:="hector_slam" bag_file:="your_bag_file" scanner1:="/points2_front" scanner2:="/points2_rear" inter_rviz:="true" rviz_config:="basic"

To try specific SLAM with your bag file and our LIDAR scheme you should do this steps:

1. repeate 2-3 steps above
2. roslaunch slam_benchmark test_slam.launch SLAM_type:="slam_package_name" bag_file:="your_bag_file" scanner1:="/your_cloud_topic" scanner2:="/your_other_cloud_topic"

Localization usage:

To try specific Localization package with your bag file and LIDAR scheme you should do this steps:

1. [in localization_test.launch] change configuration to match your lidar scheme.
2. [in slam_benchmark dir] mkdir bag_files
3. mv "your_bag_file".bag /path/to/your/bag/folder/bag_files
4. roslaunch slam_benchmark localization_type.launch localization_type:="amcl" bag_file:="your_bag_file" scanner1:="/points2_front" scanner2:="/points2_rear" inter_rviz:="true" rviz_config:="turtlebot3_navigation"

To try specific Localization package with your bag file and our LIDAR scheme you should do this steps:

1. repeate 2-3 steps above
2. roslaunch slam_benchmark localization_type.launch localization_type:="amcl" bag_file:="your_bag_file" scanner1:="/points2_front" scanner2:="/points2_rear" inter_rviz:="true" rviz_config:="turtlebot3_navigation"

Arguments

slam_test.launch

* SLAM_type - type of SLAM algorithm

localization_test.launch

* localization_type - type of Localization algorithm

common arguments

* bag_file - bag file for rosbag usage
* map_file - map file for map server usage
* scanner1 - name of first topic, which publish PointCloud2
* scanner2 - name of second topic, which publish PointCloud2
* inter_rviz - param controll rviz behaviour, true - rviz will launch in this package, false - if not
* rviz_config - name of rviz config file