Commit 4a5c49eb authored by dla.adolfsson@gmail.com's avatar dla.adolfsson@gmail.com
Browse files

working on calibration

parent d648ad05
......@@ -10,11 +10,11 @@
<arg name="rviz_enabled" default="false" />
<arg name="root_id" default="/map_laser2d" />
<!--include file="$(find graph_map)/launch/VelodyneConvertMotionCompensation.launch" >
<arg name="robot_id" value="$(arg robot_id)" />
<arg name="input_points_topic" value="$(arg robot_id)/sensors/velodyne_packets" />
<arg name="output_points_topic" value="$(arg robot_id)/sensors/velodyne_points_unwarped" />
</include-->
<include file="$(find graph_map)/launch/VelodyneConvertMotionCompensation.launch" >
<arg name="robot_id" value="$(arg robot_id)" />
<arg name="input_points_topic" value="$(arg robot_id)/velodyne_packets" />
<arg name="output_points_topic" value="$(arg robot_id)/velodyne_points_unwarped2" />
</include>
<!-- Include visualization in rviz -->
<group if="$(arg rviz_enabled)">
......@@ -33,8 +33,8 @@
<param name="dataset" value="ncfm-2018" />
<!--param name="laser_tf" value="$(arg robot_id)/velodyne_correct" /-->
<param name="laser_tf" value="$(arg robot_id)/velodyne_link" />
<param name="publish_sensor_link" value="false" />
<param name="input_cloud_topic" value="$(arg robot_id)/sensors/velodyne_packets" />
<param name="publish_sensor_link" value="true" />
<param name="input_cloud_topic" value="$(arg robot_id)/velodyne_packets" />
<param name="pose_estimate_topic" value="$(arg robot_id)/mcl_pose_estimate" />
<!-- Topic of laser scanner -->
......
......@@ -30,7 +30,10 @@
</node>
</group>
<node name="occupancy_map_server" pkg="map_server" type="map_server" args=" $(find graph_map)/maps/ncfm.yaml" output="screen">
<remap from="/map" to="/maps/map_laser2d"/>
<param name="~frame_id" value="map_laser2d"/>
</node>
<!--node pkg="tf" type="static_transform_publisher" name="velodyne_map_static_broadcaster" args="0 0 0 0 0 0 world map_velodyne 100"/-->
<!--node pkg="tf" type="static_transform_publisher" name="occupancy_map_static_broadcaster" args="0 0 0 0 0 0 world map 100"/-->
</launch>
......
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1/Frames1
- /TF1/Tree1
- /Odometry1/Shape1
- /Odometry2/Shape1
- /Odometry3/Shape1
- /Odometry4/Shape1
- /PointCloud21
- /PointCloud21/Autocompute Value Bounds1
- /Map1
Splitter Ratio: 0.5
Tree Height: 815
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
- /Orbit1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0.126900002
Y: 0.385399997
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
map:
Value: true
robot4/base_footprint:
Value: true
robot4/base_fork:
Value: true
robot4/base_link:
Value: true
robot4/base_link_ground_truth:
Value: true
robot4/camera_depth_frame:
Value: true
robot4/camera_depth_optical_frame:
Value: true
robot4/camera_link:
Value: true
robot4/camera_rgb_frame:
Value: true
robot4/camera_rgb_optical_frame:
Value: true
robot4/fixed_left_wheel_link:
Value: true
robot4/fixed_right_wheel_link:
Value: true
robot4/kinect2_depth_optical_frame:
Value: true
robot4/kinect2_ir_optical_frame:
Value: true
robot4/kinect2_link:
Value: true
robot4/kinect2_rgb_optical_frame:
Value: true
robot4/kinect_link:
Value: true
robot4/laser2d_floor:
Value: true
robot4/laser2d_floor_link:
Value: true
robot4/laser2d_top:
Value: true
robot4/laser2d_top_link:
Value: true
robot4/left_fork:
Value: true
robot4/odom:
Value: true
robot4/right_fork:
Value: true
robot4/robot4/velodyne:
Value: true
robot4/robot4/velodyne_base_link:
Value: true
robot4/sd_wheel_link:
Value: true
robot4/steer_link:
Value: true
submap_node0:
Value: true
velodyne:
Value: true
world:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
world:
robot4/odom:
robot4/base_footprint:
robot4/base_link:
robot4/base_fork:
robot4/left_fork:
{}
robot4/right_fork:
{}
robot4/fixed_left_wheel_link:
{}
robot4/fixed_right_wheel_link:
{}
robot4/kinect2_link:
robot4/kinect2_depth_optical_frame:
{}
robot4/kinect2_rgb_optical_frame:
robot4/kinect2_ir_optical_frame:
{}
robot4/kinect_link:
{}
robot4/laser2d_floor:
{}
robot4/laser2d_floor_link:
{}
robot4/laser2d_top:
{}
robot4/laser2d_top_link:
{}
robot4/robot4/velodyne_base_link:
robot4/robot4/velodyne:
{}
robot4/steer_link:
robot4/sd_wheel_link:
{}
velodyne:
{}
submap_node0:
{}
Update Interval: 0
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /graphInfo
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: true
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 10000
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 255; 0
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.100000001
Shaft Radius: 0.00999999978
Value: Arrow
Topic: /robot1/kmo_navserver/state
Unreliable: false
Value: true
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 10000
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.100000001
Shaft Radius: 0.00999999978
Value: Arrow
Topic: /ndt_mcl_pose
Unreliable: false
Value: true
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 100
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 0; 255; 255
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.100000001
Shaft Radius: 0.00999999978
Value: Arrow
Topic: /robot1/kmo_navserver/odom
Unreliable: false
Value: true
- Alpha: 1
Arrow Length: 0.300000012
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: PoseArray
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /ndt_mcl_localization_graph/pose_particles
Unreliable: false
Value: true
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: true
Keep: 100
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.100000001
Shaft Radius: 0.00999999978
Value: Arrow
Topic: /ndt_mcl_pose
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 5.9265604
Min Value: -1.14259744
Value: false
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0500000007
Style: Points
Topic: /cloud_localized
Unreliable: false
Use Fixed Frame: false
Use rainbow: true
Value: true
- Alpha: 0.400000006
Class: ndt_rviz/NDT
Color: 204; 51; 204
Enabled: true
History Length: 1
Name: NDT
Topic: /graph_map_publisher/NDTOmMap
Unreliable: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
Enabled: true
Global Options:
Background Color: 130; 130; 130
Default Light: true
Fixed Frame: world
Frame Rate: 70
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 22.5021648
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.926601827
Y: -2.5325017
Z: 3.01108912e-06
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.06479573
Target Frame: world
Value: XYOrbit (rviz)
Yaw: 0.494042486
Saved:
- Class: rviz/Orbit
Distance: 39.1665726
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Orbit
Near Clip Distance: 0.00999999978
Pitch: 0.785398185
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398185
Window Geometry:
Displays:
collapsed: false
Height: 1028
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001aa000003befc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003be000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003befc0200000003fb0000000a005600690065007700730100000028000003be000000ad00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000064f000000b0fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000047a000003be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 27
......@@ -12,7 +12,9 @@ Panels:
- /Odometry2/Shape1
- /Odometry3
- /Odometry3/Shape1
- /Map1
- /PointCloud21
- /PointCloud21/Autocompute Value Bounds1
Splitter Ratio: 0.5
Tree Height: 815
- Class: rviz/Selection
......@@ -315,34 +317,34 @@ Visualization Manager:
Topic: /graph_map_publisher/NDTOmMap
Unreliable: false
Value: true
- Alpha: 0.699999988
- Alpha: 0.200000003
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Topic: /maps/map_laser2d
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Max Value: 6.03039742
Min Value: -0.172616005
Value: false
Axis: Z
Channel Name: intensity
Channel Name: x
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Max Intensity: 9.8743124
Min Color: 0; 0; 0
Min Intensity: 0
Min Intensity: -18.3716335
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
......@@ -379,7 +381,7 @@ Visualization Manager:
Value: true
Views:
Current:
Angle: 1.50500131
Angle: 1.48000133
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
......@@ -389,11 +391,11 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Scale: 32.0815163
Scale: 54.7555885
Target Frame: world
Value: TopDownOrtho (rviz)
X: -3.27640963
Y: -6.37991905
X: -5.34080029
Y: -3.81768727
Saved:
- Class: rviz/Orbit
Distance: 39.1665726
......
<?xml version="1.0" encoding="utf-8"?>
<launch>
<arg name="run_bag" default="false"/>
<arg name="namespace_prefix" default="robot4"/>
<arg name="namespace_prefix" default="robot5"/>
<arg name="output_pointcloud_topic_name" default="/fused_cloud"/>
<arg name="rviz_enabled" default="false"/>
......@@ -113,8 +113,8 @@
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<remap from="cloud_in" to="$(arg output_pointcloud_topic_name)"/>
<param name="frame_id" value="world"/>
<param name="resolution" value="0.15"/>
<param name="frame_id" value="map_laser2d"/>
<param name="resolution" value="0.1"/>
<param name="sensor_model/max_range" value="10.0"/>
<param name="pointcloud_max_z" value="5"/>
<param name="occupancy_min_z" value="0.1"/>
......
......@@ -6,6 +6,7 @@
<arg name="output_points_topic" default="/$(arg robot_id)/sensors/velodyne_points_unwarped" />
<!-- Run monte carlo localization -->
<!--include file="$(find ndt_calibration)/launch/visualize.launch" /-->
<node name="velodyne_converter" pkg="graph_map" type="velodyne_converter" output="screen">
<!-- select one of the following types-->
......@@ -15,7 +16,7 @@
<!-- Topic of laser scanner -->
<param name="input_points_topic" value="$(arg input_points_topic)" />
<param name="output_points_topic" value="$(arg output_points_topic)" />
<param name="output_points_link" value="/$(arg robot_id)/velodyne_link" />
<param name="output_points_link" value="$(arg robot_id)/velodyne_link" />
<param name="calibration" value="$(find graph_map)/config/VLP16db.yaml" />
<param name="sensor_offset_topic" value="/sensor_pose" />
......@@ -29,5 +30,17 @@
<param name="sensor_pose_t" value="0" />
</node>
<!--node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<remap from="cloud_in" to="$(arg output_points_topic)"/>
<param name="frame_id" value="map_laser2d"/>
<param name="resolution" value="0.10"/>
<param name="sensor_model/max_range" value="10.0"/>