From 896e2232f01b96fff88bd66e2add95285bfba4f7 Mon Sep 17 00:00:00 2001 From: Giuseppe Barbieri Date: Mon, 7 Apr 2025 20:44:55 +0200 Subject: [PATCH 1/3] add slam params --- config/slam_params.yaml | 65 +++++++++++++++++++++ turtlebot3c-gadget/gadget/gadget-amd64.yaml | 1 + turtlebot3c-gadget/gadget/gadget-arm64.yaml | 1 + 3 files changed, 67 insertions(+) create mode 100644 config/slam_params.yaml diff --git a/config/slam_params.yaml b/config/slam_params.yaml new file mode 100644 index 0000000..c6fe8a3 --- /dev/null +++ b/config/slam_params.yaml @@ -0,0 +1,65 @@ +slam_toolbox: + ros__parameters: + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None #HuberLoss + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: mapping #localization + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.04 + map_update_interval: 1.0 + resolution: 0.05 + max_laser_range: 12.0 #for rastering images + minimum_time_interval: 0.05 + transform_timeout: 0.1 + tf_buffer_duration: 20.0 + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: false + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.2 + minimum_travel_heading: 0.1 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 0.5 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 0.75 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true diff --git a/turtlebot3c-gadget/gadget/gadget-amd64.yaml b/turtlebot3c-gadget/gadget/gadget-amd64.yaml index 9c2543e..357a11f 100644 --- a/turtlebot3c-gadget/gadget/gadget-amd64.yaml +++ b/turtlebot3c-gadget/gadget/gadget-amd64.yaml @@ -72,6 +72,7 @@ defaults: simulation: "True" navigation-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/nav2_params.yaml" localization-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/localization_params.yaml" + slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/slam_params.yaml" connections: # robot-model-server <-> turtlebot3c-model diff --git a/turtlebot3c-gadget/gadget/gadget-arm64.yaml b/turtlebot3c-gadget/gadget/gadget-arm64.yaml index 3a75352..87c19cf 100644 --- a/turtlebot3c-gadget/gadget/gadget-arm64.yaml +++ b/turtlebot3c-gadget/gadget/gadget-arm64.yaml @@ -57,6 +57,7 @@ defaults: simulation: "True" navigation-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/nav2_params.yaml" localization-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/localization_params.yaml" + slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/feat/add-slam-params/config/slam_params.yaml" connections: # robot-model-server <-> turtlebot3c-model From d0e4dbfbce7a088f509f6a4e5c788626ecc06573 Mon Sep 17 00:00:00 2001 From: Giuseppe Barbieri Date: Mon, 7 Apr 2025 22:30:48 +0200 Subject: [PATCH 2/3] use test branch --- turtlebot3c-gadget/gadget/gadget-amd64.yaml | 2 +- turtlebot3c-gadget/gadget/gadget-arm64.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/turtlebot3c-gadget/gadget/gadget-amd64.yaml b/turtlebot3c-gadget/gadget/gadget-amd64.yaml index 357a11f..6e27e9a 100644 --- a/turtlebot3c-gadget/gadget/gadget-amd64.yaml +++ b/turtlebot3c-gadget/gadget/gadget-amd64.yaml @@ -72,7 +72,7 @@ defaults: simulation: "True" navigation-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/nav2_params.yaml" localization-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/localization_params.yaml" - slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/slam_params.yaml" + slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/feat/add-slam-params/config/slam_params.yaml" connections: # robot-model-server <-> turtlebot3c-model diff --git a/turtlebot3c-gadget/gadget/gadget-arm64.yaml b/turtlebot3c-gadget/gadget/gadget-arm64.yaml index 87c19cf..0787205 100644 --- a/turtlebot3c-gadget/gadget/gadget-arm64.yaml +++ b/turtlebot3c-gadget/gadget/gadget-arm64.yaml @@ -57,7 +57,7 @@ defaults: simulation: "True" navigation-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/nav2_params.yaml" localization-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/localization_params.yaml" - slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/feat/add-slam-params/config/slam_params.yaml" + slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/slam_params.yaml" connections: # robot-model-server <-> turtlebot3c-model From ce60ba781018c37888bc0f14686da8e6310a4bc3 Mon Sep 17 00:00:00 2001 From: Giuseppe Barbieri Date: Tue, 8 Apr 2025 12:34:23 +0200 Subject: [PATCH 3/3] use main branch --- turtlebot3c-gadget/gadget/gadget-amd64.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/turtlebot3c-gadget/gadget/gadget-amd64.yaml b/turtlebot3c-gadget/gadget/gadget-amd64.yaml index 6e27e9a..357a11f 100644 --- a/turtlebot3c-gadget/gadget/gadget-amd64.yaml +++ b/turtlebot3c-gadget/gadget/gadget-amd64.yaml @@ -72,7 +72,7 @@ defaults: simulation: "True" navigation-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/nav2_params.yaml" localization-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/localization_params.yaml" - slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/feat/add-slam-params/config/slam_params.yaml" + slam-config: "https://raw.githubusercontent.com/ubuntu-robotics/turtlebot3c-ubuntu-core/refs/heads/humble-virtual/config/slam_params.yaml" connections: # robot-model-server <-> turtlebot3c-model