simulate 3D SLAM

[Mohamad Farhat]

Hey,

I'm trying to simulate the 3d cartographer using Gazebo, before I use the real Sensor ( I wait for it). I use a Velodyne VLP-16 LiDAR and IMU. When I start the 3D google cartographer node I can't see the map clearly, it is  invisible.
When I get the info in my Terminal, the points2 rate is only 2,47 Hz and the imu rate 100 Hz. When I launch the Deutsche museum .bag file, I found that the Sensor rate is very hight ~1500Hz
Is this my problem, why I can't see the map?  Or you have any idea how can I solve it? I post a picture, you can check it.

Thanks

[Holger Rapp]

On Thu, Feb 2, 2017 at 1:18 AM, Mohamad Farhat <mohamad.f...@gmail.com> wrote:

Hey,

I'm trying to simulate the 3d cartographer using Gazebo, before I use the real Sensor ( I wait for it). I use a Velodyne VLP-16 LiDAR and IMU. When I start the 3D google cartographer node I can't see the map clearly, it is  invisible.
When I get the info in my Terminal, the points2 rate is only 2,47 Hz and the imu rate 100 Hz. When I launch the Deutsche museum .bag file, I found that the Sensor rate is very hight ~1500Hz

​This is because we have one point cloud per UDP packet from the laser, see this issue for details: https://github.com/googlecartographer/cartographer_ros/issues/257#issuecomment-276852387​

​

Is this my problem, why I can't see the map?  Or you have any idea how can I solve it? I post a picture, you can check it.

​

The HZ rate seems fine while you are not moving. What could be - but it is hard to tell from your image - that you do not see ceilings.​​The visualization of the submaps kinda relies on there being a ceiling that is visible to the laser. Otherwise you will see the walls, but the rest will be mostly transparent.​

​

​

Thanks

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[Mohamad Farhat]

Thanks for your answer. yes I dont have ceilings because I would like to use it later outdoor. That mean 3D cartographer will not work well outside, or it is possible?

Am Donnerstag, 2. Februar 2017 10:40:50 UTC+1 schrieb Holger Rapp:

On Thu, Feb 2, 2017 at 1:18 AM, Mohamad Farhat <mohamad.f...@gmail.com> wrote:

Hey,

I'm trying to simulate the 3d cartographer using Gazebo, before I use the real Sensor ( I wait for it). I use a Velodyne VLP-16 LiDAR and IMU. When I start the 3D google cartographer node I can't see the map clearly, it is  invisible.
When I get the info in my Terminal, the points2 rate is only 2,47 Hz and the imu rate 100 Hz. When I launch the Deutsche museum .bag file, I found that the Sensor rate is very hight ~1500Hz

​This is because we have one point cloud per UDP packet from the laser, see this issue for details: https://github.com/googlecartographer/cartographer_ros/issues/257#issuecomment-276852387​

​

Is this my problem, why I can't see the map?  Or you have any idea how can I solve it? I post a picture, you can check it.

​

The HZ rate seems fine while you are not moving. What could be - but it is hard to tell from your image - that you do not see ceilings.​​The visualization of the submaps kinda relies on there being a ceiling that is visible to the laser. Otherwise you will see the walls, but the rest will be mostly transparent.​

​

​

Thanks

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[Holger Rapp]

On Thu, Feb 2, 2017 at 11:31 AM, Mohamad Farhat <mohamad.f...@gmail.com> wrote:

Thanks for your answer. yes I dont have ceilings because I would like to use it later outdoor. That mean 3D cartographer will not work well outside, or it is possible?

​Cartographer - the SLAM - will work just fine. We use Cartographer on cars outdoors. ​Just the visualization will look weird. If you drive your robot around in gazebo, you should see that the slam tracks fine. 

 

Am Donnerstag, 2. Februar 2017 10:40:50 UTC+1 schrieb Holger Rapp:

On Thu, Feb 2, 2017 at 1:18 AM, Mohamad Farhat <mohamad.f...@gmail.com> wrote:

Hey,

I'm trying to simulate the 3d cartographer using Gazebo, before I use the real Sensor ( I wait for it). I use a Velodyne VLP-16 LiDAR and IMU. When I start the 3D google cartographer node I can't see the map clearly, it is  invisible.
When I get the info in my Terminal, the points2 rate is only 2,47 Hz and the imu rate 100 Hz. When I launch the Deutsche museum .bag file, I found that the Sensor rate is very hight ~1500Hz

​This is because we have one point cloud per UDP packet from the laser, see this issue for details: https://github.com/googlecartographer/cartographer_ros/issues/257#issuecomment-276852387​

​

Is this my problem, why I can't see the map?  Or you have any idea how can I solve it? I post a picture, you can check it.

​

The HZ rate seems fine while you are not moving. What could be - but it is hard to tell from your image - that you do not see ceilings.​​The visualization of the submaps kinda relies on there being a ceiling that is visible to the laser. Otherwise you will see the walls, but the rest will be mostly transparent.​

​

​

Thanks

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[Mohamad Farhat]

Thx. I drive the robot around but the 3D map creation don't work well for me. I can see a few Gray point but it don't see like a map. I attach two picture. Did you think that is a gazebo problem with the used sensor.( I use VLP-16 in gazebo see the link bellow)
Or you have a different guess what could be? Thanks again.

https://bitbucket.org/DataspeedInc/velodyne_simulator

[Holger Rapp]

On Thu, Feb 2, 2017 at 5:37 PM, Mohamad Farhat <mohamad.f...@gmail.com> wrote:

Thx. I drive the robot around but the 3D map creation don't work well for me. I can see a few Gray point but it don't see like a map. I attach two picture. Did you think that is a gazebo problem with the used sensor.( I use VLP-16 in gazebo see the link bellow)
Or you have a different guess what could be? Thanks again.

​I doubt it is a problem with the sensor - the point cloud in rviz looks fine. We also use gazebo (but simulating a hokuyo) and mapping works just fine. ​Can you post the full output of the Cartographer node and your configurations in gists?

​​

https://bitbucket.org/DataspeedInc/velodyne_simulator

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[Mohamad Farhat]

ok, my launch file and my configuration file can you find hier:
https://gist.github.com/anonymous/893572a34cca8f9003b134d8ca66f548

and my created map after 5 min driving the Robot around look like in this picture. I don't know how to save the submap_list in ROS, this why I posted a screenshot only for the submap_list
I tried google cartographer 2d with a Hokuyo Laser Scan and it is work very well.

[Mohamad Farhat]

Hey,

can you check my config file Please?
https://github.com/mohamadfarhat/cartographer_3d_test/tree/master/src/cartographer_3D

i would like to upload a bag file for my simulation but it is about 6,3 GB big.
I hope you can help me.
thx

[Holger Rapp]

You can use ros bag to cut your bag file in a smaller piece. It is hard to check your configuration is correct without seeing the data you use it for.​

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[Mohamad Farhat]

Ok,I upload the output of 3d cartographer

[Holger Rapp]

​The output will not help​, I require your sensor data to understand why it is not working for you.

On Thu, Feb 23, 2017 at 12:05 PM, Mohamad Farhat <mohamad.f...@gmail.com> wrote:

Ok,I upload the output of 3d cartographer

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[Mohamad Farhat]

ok, check this Link bellow, i record only sensor data:

https://www.dropbox.com/sh/ijzdht7cq9nd0i2/AADBtaSE9jmHgrvSPFEjoea4a?dl=0

[Holger Rapp]

Thank you. I will not have time to look into this till late next week. I filed https://github.com/googlecartographer/cartographer_ros/issues/268 to keep track of this.

On Thu, Feb 23, 2017 at 2:04 PM, Mohamad Farhat <mohamad.f...@gmail.com> wrote:

ok, check this Link bellow, i record only sensor data:

https://www.dropbox.com/sh/ijzdht7cq9nd0i2/AADBtaSE9jmHgrvSPFEjoea4a?dl=0

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