Commit da0369ff authored by dla.adolfsson@gmail.com's avatar dla.adolfsson@gmail.com
Browse files

added calibration

parent 3147dcbd
......@@ -5,6 +5,7 @@
<arg name="input_points_topic" default="/$(arg robot_id)/sensors/velodyne_packets" />
<arg name="output_points_topic" default="/$(arg robot_id)/sensors/velodyne_points_unwarped" />
<arg name="link" default="$(arg robot_id)/velodyne_link" />
<arg name="sensor_offset_topic" default="/sensor_default" />
<!-- Run monte carlo localization -->
<!--include file="$(find ndt_calibration)/launch/visualize.launch" /-->
......@@ -19,7 +20,7 @@
<param name="output_points_topic" value="$(arg output_points_topic)" />
<param name="output_points_link" value="$(arg link)" />
<param name="calibration" value="$(find graph_map)/config/VLP16db.yaml" />
<param name="sensor_offset_topic" value="/sensor_pose" />
<param name="sensor_offset_topic" value="$(arg sensor_offset_topic)" />
<param name="odom_parent_link" value="$(arg robot_id)/odom" />
<param name="odom_link" value="$(arg robot_id)/base_footprint" />
......
<?xml version="1.0" encoding="utf-8"?>
<launch>
<arg name="robot_id" default="robot5"/>
<arg name="input_points_topic" default="/odometry_projected_cloud"/>
<arg name="output_pointcloud_topic_name" default="/odometry_projected_cloud"/>
<arg name="output_laser_link" default="$(arg robot_id)/calibrated_velodyne_link"/>
<arg name="sensor_offset_topic" default="/sensor_default"/>
<!-- start mapping node -->
<node pkg="graph_map" type="graph_map_fuser_node" name="graph_node" output="screen">
<!-- Choose weather to initiate pose to pose_init_<x,y,t> or the data of /<gt_topic> -->
<param name="initPoseFromGT" value="false" />
<param name="pose_init_x" value="0" />
<param name="pose_init_y" value="0" />
<param name="pose_init_t" value="0" />
<!-- Select mapping technique to one of the methods listed in graph_map/include/graph_factory.h -->
<param name="map_type" value="ndt_map" />
<!-- use local maps instead of a single map, this can improve map descriptiveness -->
<param name="use_submap" value="false" />
<param name="velodyne_config_file" value="$(find graph_map)/config/VLP16db.yaml" />
<!-- choose to disable essential parts of the software -->
<param name="enable_registration" value="false" />
<!-- Select registration technique to one of the methods listed in graph_map/include/graph_factory.h -->
<param name="registration_type" value="ndt_d2d_reg" />
<param name="enable_mapping" value="false" />
<param name="tf_pose_frame" value="" />
<!-- if laser_2d is true, a 2d scanner will be used for mapping-->
<param name="laser_2d" value="false" />
<param name="points_topic" value="$(arg input_points_topic)" />
<param name="output_pointcloud_topic_name" value="/odometry_cloud" />
<param name="useOdometry" value="true" />
<param name="odometry_topic" value="$(arg robot_id)/control/odom"/>
<param name="use_tf_listener" value="true" />
<param name="use_pointcloud" value="true" />
<param name="gt_topic" value="$(arg robot_id)/control/state" />
<!-- odometry frame id-->
<param name="odom_tf" value="$(arg robot_id)/odom" />
<param name="base_tf" value="$(arg robot_id)/base_footprint" />
<!-- size of map -->
<param name="size_x_meters" value="70" />
<param name="size_y_meters" value="70" />
<param name="size_z_meters" value="10" />
<param name="sensor_offset_topic" value="$(arg sensor_offset_topic)" />
<param name="laser_variance_z" value="0.02" />
<!--range of sensor, min range can prevent self-mapping of the robot or operator of the lidar, max range can remove uncertain measurments -->
<param name="max_range" value="130." />
<param name="min_range" value="1.8" />
<!-- Specific sensor offset parameters with respect to the odometry frame -->
<param name="sensor_pose_x" value="0" />
<param name="sensor_pose_y" value="0" />
<param name="sensor_pose_z" value="0" />
<param name="sensor_pose_r" value="0" />
<param name="sensor_pose_p" value="0" />
<param name="sensor_pose_t" value="0" />
<param name="visualize" value="false" />
<param name="use_keyframe" value="false" />
</node>
</launch>
......@@ -6,6 +6,7 @@ Panels:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /TF1/Frames1
- /TF1/Tree1
- /PointCloud21
......@@ -40,7 +41,7 @@ Panels:
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
- Alpha: 0.200000003
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
......@@ -81,6 +82,8 @@ Visualization Manager:
All Enabled: false
fuser_base_link:
Value: true
fuser_laser_link:
Value: true
map_laser2d:
Value: true
robot5/asus_fork_base_link:
......@@ -145,8 +148,6 @@ Visualization Manager:
Value: true
velodyne:
Value: false
velodyne_new:
Value: true
world:
Value: false
Marker Scale: 1
......@@ -157,10 +158,8 @@ Visualization Manager:
Tree:
world:
fuser_base_link:
velodyne_new:
fuser_laser_link:
{}
map_laser2d:
{}
robot5/base_footprint_ground_truth:
{}
robot5/odom:
......@@ -222,7 +221,7 @@ Visualization Manager:
{}
Queue Size: 100
Value: false
- Alpha: 0.150000006
- Alpha: 0.0799999982
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 5.53900051
......@@ -356,14 +355,14 @@ Visualization Manager:
Value: true
- Alpha: 1
Class: ndt_rviz/NDT
Color: 204; 51; 204
Color: 0; 255; 255
Enabled: true
History Length: 1
Name: NDT
Topic: /graph_node/NDTOmMap
Unreliable: false
Value: true
- Alpha: 1
- Alpha: 0
Class: rviz/Map
Color Scheme: map
Draw Behind: true
......@@ -375,7 +374,7 @@ Visualization Manager:
Value: true
Enabled: true
Global Options:
Background Color: 139; 139; 139
Background Color: 43; 43; 43
Default Light: true
Fixed Frame: world
Frame Rate: 70
......@@ -398,25 +397,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 22.194479
Distance: 12.960433
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -1.24967933
Y: 0.316982746
Z: 0.0867976025
X: 0.936794162
Y: 1.31010401
Z: -1.57417089e-05
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.34979367
Pitch: 0.890398204
Target Frame: <Fixed Frame>
Value: ThirdPersonFollower (rviz)
Yaw: 4.52997684
Yaw: 1.00539541
Saved:
- Class: rviz/Orbit
Distance: 39.1665726
......
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1/Frames1
- /TF1/Tree1
- /PointCloud21
- /Odometry1/Shape1
- /Odometry2/Shape1
- /Odometry3/Shape1
- /NDT1
- /Map1
Splitter Ratio: 0.656934321
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
- Alpha: 1
Arrow Length: 0.300000012
Axes Length: 0.400000006
Axes Radius: 0.0700000003
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: Axes
Topic: /graphMap
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
fuser_base_link:
Value: true
laser_link:
Value: true
map_laser2d:
Value: true
map_velodyne:
Value: true
robot5/asus_fork_base_link:
Value: true
robot5/asus_fork_depth_frame:
Value: true
robot5/asus_fork_depth_optical_frame:
Value: true
robot5/asus_fork_link:
Value: true
robot5/asus_fork_rgb_frame:
Value: true
robot5/asus_fork_rgb_optical_frame:
Value: true
robot5/base_footprint:
Value: true
robot5/base_footprint_ground_truth:
Value: true
robot5/base_fork:
Value: true
robot5/base_link:
Value: true
robot5/fixed_left_wheel_link:
Value: true
robot5/fixed_right_wheel_link:
Value: true
robot5/kinect2_base_link:
Value: true
robot5/kinect2_depth_optical_frame:
Value: true
robot5/kinect2_ir_optical_frame:
Value: true
robot5/kinect2_link:
Value: true
robot5/kinect2_rgb_optical_frame:
Value: true
robot5/laser2d_floor_base_link:
Value: true
robot5/laser2d_floor_link:
Value: true
robot5/laser2d_top_base_link:
Value: true
robot5/laser2d_top_link:
Value: true
robot5/left_fork:
Value: true
robot5/odom:
Value: true
robot5/right_fork:
Value: true
robot5/sd_wheel_link:
Value: true
robot5/steer_link:
Value: true
robot5/velodyne:
Value: true
robot5/velodyne_base_link:
Value: true
robot5/velodyne_link:
Value: true
submap_node0:
Value: true
velodyne:
Value: true
world:
Value: false
Marker Scale: 1
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
map_laser2d:
{}
robot5/odom:
robot5/base_footprint:
robot5/base_link:
robot5/asus_fork_base_link:
robot5/asus_fork_link:
robot5/asus_fork_depth_frame:
robot5/asus_fork_depth_optical_frame:
{}
robot5/asus_fork_rgb_frame:
{}
robot5/asus_fork_rgb_optical_frame:
{}
robot5/base_fork:
robot5/left_fork:
{}
robot5/right_fork:
{}
robot5/fixed_left_wheel_link:
{}
robot5/fixed_right_wheel_link:
{}
robot5/kinect2_base_link:
robot5/kinect2_link:
robot5/kinect2_depth_optical_frame:
{}
robot5/kinect2_rgb_optical_frame:
robot5/kinect2_ir_optical_frame:
{}
robot5/laser2d_floor_base_link:
robot5/laser2d_floor_link:
{}
robot5/laser2d_top_base_link:
robot5/laser2d_top_link:
{}
robot5/steer_link:
robot5/sd_wheel_link:
{}
robot5/velodyne_base_link:
robot5/velodyne_link:
robot5/velodyne:
{}
velodyne:
{}
world:
fuser_base_link:
laser_link:
{}
robot5/base_footprint_ground_truth:
{}
Update Interval: 0
Value: true
- Class: rviz/Axes
Enabled: false
Length: 1
Name: Axes
Radius: 0.100000001
Reference Frame: world
Value: false
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /graphInfo
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: false
- Alpha: 0.600000024
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 6.4502883
Min Value: -1.32666981
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 10
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): 1
Size (m): 0.0299999993
Style: Points
Topic: /fused_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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: /robot4/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: 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
- 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: 2000
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: /graph_node/ndt_pose_est
Unreliable: false
Value: true
- Alpha: 0.400000006
Class: ndt_rviz/NDT
Color: 204; 51; 204
Enabled: true
History Length: 1
Name: NDT
Topic: /graph_node/NDTOmMap
Unreliable: false
Value: true
- Alpha: 0.300000012
Class: rviz/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic: /projected_map
Unreliable: false
Use Timestamp: false
Value: true
Enabled: true
Global Options:
Background Color: 139; 139; 139
Default Light: true
Fixed Frame: robot5/odom
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/ThirdPersonFollower
Distance: 19.4457722
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -2.8568635
Y: -18.9910278
Z: 0.0867903084
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.84979701
Target Frame: <Fixed Frame>
Value: ThirdPersonFollower (rviz)
Yaw: 4.84677649
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