Re: [google-cartographer] what's wrong about my configuration for 2d Laserscan and IMU?

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Holger Rapp

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Apr 7, 2017, 9:55:53 AM4/7/17

to libin sui, google-cartographer

On Fri, Apr 7, 2017 at 1:01 PM, libin sui <bygr...@gmail.com> wrote:

At my test project, I have made all sensors correctly sending data to cartographer, but the output of TF is always not correct, and which make the map is not being generated.
Could anyone help me to check where is wrong? Let me learn from your answer. thanks a lot!

The screenshot you send shows that your IMU is giving reasonable data. The problem is probably somewhere else - have you run roswtf? I guess the problem is also probably not related to cartographer, but to ROS - so you might get better answers asking at answers.ros.org.

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libin sui

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Apr 7, 2017, 10:02:48 AM4/7/17

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Sorry, I canceled this post since I found some doubts need to check again. If I could not fix it, I would come again.

在 2017年4月7日星期五 UTC+8下午9:55:53，Holger Rapp写道：

On Fri, Apr 7, 2017 at 1:01 PM, libin sui <bygr...@gmail.com> wrote:
At my test project, I have made all sensors correctly sending data to cartographer, but the output of TF is always not correct, and which make the map is not being generated.
Could anyone help me to check where is wrong? Let me learn from your answer. thanks a lot!

The screenshot you send shows that your IMU is giving reasonable data. The problem is probably somewhere else - have you run roswtf? I guess the problem is also probably not related to cartographer, but to ROS - so you might get better answers asking at answers.ros.org.

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libin sui

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Apr 9, 2017, 11:30:28 PM4/9/17

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Hi Holger Rapp and All：

I still meet the same question about i have not get the generated map. And I will descript all my status for you

Device:

1. Two Hokuyo Laserscan, UTM-30LX, but at current, I just used one which is placed as horizontal laser scan.

2. xsen IMU.

Configurtion:

Launch file

<launch>
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/hokuyo_2d_imu.urdf" />

  <arg name="debugger" default="" />
  <!-- <param name="publish_frequency" type="double" value="200"/> -->
  <!-- <param name="use_tf_static" type="bool" value="false"/> -->
  <param name="enable_statistics" type="bool" value="false"/>

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node pkg="urg_node" type="urg_node" name="hokuyo_UTM_30LX_h" output="screen">
    <param name="ip_address" value="192.168.20.10"/>
    <param name="frame_id" value="horizontal_laser_link"/>
    <param name="calibrate_time" type="bool" value="false"/>  
    <param name="intensity" type="bool" value="false"/>
    <param name="cluster" value="1"/>
    <param name="publish_intensity" value = "false"/>
    <param name="publish_multiecho" value = "false"/>
    <remap from="scan" to="scan" /> 
  </node> 

<!--
  <node pkg="urg_node" type="urg_node" name="hokuyo_UTM_30LX_v" output="screen">
    <param name="ip_address" value="192.168.0.10"/>
    <param name="frame_id" value="vertical_laser_link"/>
    <param name="calibrate_time" type="bool" value="true"/>  
    <param name="intensity" type="bool" value="false"/>
    <param name="cluster" value="1"/>
    <param name="publish_intensity" value = "false"/>
    <param name="publish_multiecho" value = "false"/>
    <remap from="scan" to="scan" /> 
  </node> 
 -->
<!--
  <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_URG_04LX" output="screen">
    <param name="calibrate_time" type="bool" value="false"/> 
    <param name="port" type="string" value="/dev/ttyACM0"/> 
    <param name="intensity" type="bool" value="false"/> 
    <param name="frameid" value="vertical_laser_link"/>
    <param name="port" type="string" value="/dev/ttyACM0"/> 
  </node>
-->
  <node name="xsens_driver" pkg="xsens_driver" 
      type="mtnode.py"  
      output="screen" >
      <param name="device" value="/dev/ttyS0"/>
      <param name="baudrate" value="115200"/>
      <param name="frame_id" value="imu_link"/>
      <param name="frame_local" value="NWU"/>
      <remap from="imu" to="imu" />
  </node>

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory
              $(find cartographer_ros)/configuration_files
          -configuration_basename hokuyo_2d_imu.lua"
      output="screen"
      launch-prefix="$(arg debugger)" >
      <!-- launch-prefix="$(arg debugger)" -->

      <!-- <remap from="scan" to="horizontal_laser_2d" /> -->
      <!-- <remap from="imu" to="/imu/data" /> -->
  </node>


  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/hokuyo_2d_imu.rviz">
  </node>

  <!-- DEBUG -->    
  <node name="rqt_gui" pkg="rqt_gui" type="rqt_gui"/>
</launch>

lua file

include "map_builder.lua"

options = {

map_builder = MAP_BUILDER,

map_frame = "map",

tracking_frame = "base_link",

published_frame = "base_link",

odom_frame = "odom",

provide_odom_frame = true,

use_odometry = false,

use_laser_scan = true,

use_multi_echo_laser_scan = false,

num_point_clouds = 0,

lookup_transform_timeout_sec = 0.2,

submap_publish_period_sec = 0.3,

pose_publish_period_sec = 5e-3,

}

MAP_BUILDER.use_trajectory_builder_2d = true

MAP_BUILDER.num_background_threads = 7

TRAJECTORY_BUILDER_2D.use_imu_data = true

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

TRAJECTORY_BUILDER_2D.laser_min_range = 0.2

TRAJECTORY_BUILDER_2D.laser_max_range = 30.

--TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 0.2

--TRAJECTORY_BUILDER_2D.submaps.resolution = 0.4

--TRAJECTORY_BUILDER_2D.submaps.output_debug_images = true

SPARSE_POSE_GRAPH.optimize_every_n_scans = 35

SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65

SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

return options

URDF file

</material>

</material>

</geometry>

</visual>

</link>

</geometry>

</visual>

</link>

</geometry>

</visual>

</link>

</joint>

</joint>

</joint>

</robot>

RVIZ File

Panels:

- Class: rviz/Displays

Help Height: 78

Name: Displays

Property Tree Widget:

Expanded:

- /Submaps1

- /PointCloud21

Splitter Ratio: 0.600671

Tree Height: 821

- Class: rviz/Selection

Name: Selection

- Class: rviz/Tool Properties

Expanded:

- /2D Pose Estimate1

- /2D Nav Goal1

- /Publish Point1

Name: Tool Properties

Splitter Ratio: 0.588679

- Class: rviz/Views

Expanded:

- /Current View1

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: 0.03

Value: Lines

Name: Grid

Normal Cell Count: 0

Offset:

X: 0

Y: 0

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: true

base_link:

Value: true

horizontal_laser_link:

Value: true

imu_link:

Value: true

map:

Value: true

odom:

Value: true

vertical_laser_link:

Value: true

Marker Scale: 1

Name: TF

Show Arrows: true

Show Axes: true

Show Names: true

Tree:

map:

odom:

base_link:

horizontal_laser_link:

{}

imu_link:

{}

vertical_laser_link:

{}

Update Interval: 0

Value: true

- Alpha: 1

Class: rviz/RobotModel

Collision Enabled: false

Enabled: true

Links:

All Links Enabled: true

Expand Joint Details: false

Expand Link Details: false

Expand Tree: false

Link Tree Style: Links in Alphabetic Order

base_link:

Alpha: 1

Show Axes: false

Show Trail: false

horizontal_laser_link:

Alpha: 1

Show Axes: false

Show Trail: false

Value: true

imu_link:

Alpha: 1

Show Axes: false

Show Trail: false

Value: true

vertical_laser_link:

Alpha: 1

Show Axes: false

Show Trail: false

Value: true

Name: RobotModel

Robot Description: robot_description

TF Prefix: ""

Update Interval: 0

Value: true

Visual Enabled: true

- Class: Submaps

Enabled: true

Map frame: map

Name: Submaps

Submap query service: /submap_query

Topic: /submap_list

Tracking frame: base_link

Unreliable: false

Value: true

- Alpha: 1

Autocompute Intensity Bounds: true

Autocompute Value Bounds:

Max Value: 10

Min Value: -10

Value: true

Axis: Z

Channel Name: intensity

Class: rviz/PointCloud2

Color: 255; 85; 255

Color Transformer: FlatColor

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): 0.05

Style: Flat Squares

Topic: /scan_matched_points2

Unreliable: false

Use Fixed Frame: true

Use rainbow: true

Value: true

- Alpha: 1

Autocompute Intensity Bounds: true

Autocompute Value Bounds:

Max Value: 10

Min Value: -10

Value: true

Axis: Z

Channel Name: intensity

Class: rviz/LaserScan

Color: 0; 255; 127

Color Transformer: FlatColor

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: horizontal_laser_link

Position Transformer: XYZ

Queue Size: 10

Selectable: true

Size (Pixels): 3

Size (m): 0.02

Style: Flat Squares

Topic: /horizontal_laser_link

Unreliable: false

Use Fixed Frame: true

Use rainbow: true

Value: true

- Alpha: 1

Autocompute Intensity Bounds: true

Autocompute Value Bounds:

Max Value: 10

Min Value: -10

Value: true

Axis: Z

Channel Name: intensity

Class: rviz/LaserScan

Color: 85; 170; 255

Color Transformer: FlatColor

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: verticalal_laser_link

Position Transformer: XYZ

Queue Size: 10

Selectable: true

Size (Pixels): 3

Size (m): 0.01

Style: Flat Squares

Topic: /verticalal_laser_link

Unreliable: false

Use Fixed Frame: true

Use rainbow: true

Value: true

- Acceleration properties:

Acc. vector alpha: 1

Acc. vector color: 170; 170; 255

Acc. vector scale: 0.03

Derotate acceleration: true

Enable acceleration: false

Axes properties:

Axes scale: 0.2

Enable axes: true

Box properties:

Box alpha: 1

Box color: 255; 113; 11

Enable box: true

x_scale: 0.06

y_scale: 0.04

z_scale: 0.02

Class: rviz_imu_plugin/Imu

Enabled: true

Name: Imu

Topic: /imu_link

Unreliable: false

Value: true

Enabled: true

Global Options:

Background Color: 100; 100; 100

Fixed Frame: map

Frame Rate: 30

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: 10

Enable Stereo Rendering:

Stereo Eye Separation: 0.06

Stereo Focal Distance: 1

Swap Stereo Eyes: false

Value: false

Focal Point:

X: 0

Y: 0

Z: 0

Name: Current View

Near Clip Distance: 0.01

Pitch: 0.725398

Target Frame: <Fixed Frame>

Value: XYOrbit (rviz)

Yaw: 2.8754

Saved: ~

Window Geometry:

Displays:

collapsed: false

Height: 876

Hide Left Dock: false

Hide Right Dock: false

QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000

Selection:

collapsed: false

Time:

collapsed: false

Tool Properties:

collapsed: false

Views:

collapsed: false

Width: 1918

X: 0

Y: 24

Status:

Question:

1. Position and attitude not changed when moving them.

2. All data are looks like working correctly, but map is not being generated when moveing them.

3. the information of odom_combine is wrong, but i d'not know how to fix it.

I had put the source file and all bag data at https://drive.google.com/open?id=0B8Ugkw-ov7hqSUdmT3BMNjRKZ3M

Thank all again.

End!

Bygreencn

libin sui

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Apr 10, 2017, 2:15:38 AM4/10/17

to google-cartographer, bygr...@gmail.com

By the way, i also found some unreasonable tf topic message

from rostopic echo /tf

i got the following response, it seems like thr transform has been added to vertical_laser_link.

Thank all again.

Bygreencn

libin sui

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Apr 10, 2017, 3:14:06 AM4/10/17

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I do not think it is my fault since i use cartographer_paper_deutsches_museum.bag got the same result using Cartographer master branch 4f1914b Cartographer_ros master branch 319be1a
and i will commit a issue at Repo.

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