Cartographer pure localization features

[mus...@avidbots.com]

I am interested in using cartographer's pure localization feature and I am wondering if it currently supports the following features:

1.  The ability to map the place first and then save the cartographer map (if currently implemented, what is the largest map or the size of trajectory that this currently supports?)

2.  Run pure localization against the map that as saved in step 1.

3.  The ability to do 2 but given an initial pose so that cartographer knows right away its location relative to the map

[mus...@avidbots.com]

Another question that I forgot to add:

4.  Currently we are running amcl against maps which are stored as png images.  I assume we would not be able to run cartographer against these png maps because they do not store the Sparse Pose Graph representation and there is no way of convering these png maps to cartographer sparse pose graph maps.  Is this assumption correct?

On Wednesday, November 29, 2017 at 9:58:07 AM UTC-5, mus...@avidbots.com wrote:

I am interested in using cartographer's pure localization feature and I am wondering if it currently supports the following features:

1.  The ability to map the place first and then save the cartographer map (if currently implemented, what is the largest map or the size of trajectory that this currently supports?)

2.  Run pure localization against the map that was saved in step 1.

[mus...@avidbots.com]

and yet another questions:

5.  If the robot localizes in a map and the map has changed.  Is there currently a way to update the map (Basically Lifelong mapping).

[Jihoon]

Hi,

On 29.11.2017 16:06, mus...@avidbots.com wrote:

and yet another questions:

5.  If the robot localizes in a map and the map has changed.  Is there currently a way to update the map (Basically Lifelong mapping).

Not fully supported yet. But, it will be eventually since it is listed as a project in the cartographer project page.

On Wednesday, November 29, 2017 at 10:00:56 AM UTC-5, mus...@avidbots.com wrote:

Another question that I forgot to add:

4.  Currently we are running amcl against maps which are stored as png images.  I assume we would not be able to run cartographer against these png maps because they do not store the Sparse Pose Graph representation and there is no way of convering these png maps to cartographer sparse pose graph maps.  Is this assumption correct?

Yes, correct.

On Wednesday, November 29, 2017 at 9:58:07 AM UTC-5, mus...@avidbots.com wrote:

I am interested in using cartographer's pure localization feature and I am wondering if it currently supports the following features:

1.  The ability to map the place first and then save the cartographer map (if currently implemented, what is the largest map or the size of trajectory that this currently supports?)

2.  Run pure localization against the map that was saved in step 1.

For 1 & 2, check out Pure localization demo.

3.  The ability to do 2 but given an initial pose so that cartographer knows right away its location relative to the map

It gets supported recently. You can pass initial_pose as argument when you start a new trajectory. Some thing like this.

> cartographer_start_trajectory -initial_pose "{ to_trajectory_id: 0, timestamp: now, translation : { 0, 0, 0}, rotation : { ... }}" ..<more args


Cheers,
Jihoon

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[Guillaume Doisy]

Jumping in:

On Wednesday, November 29, 2017 at 10:00:56 AM UTC-5, mus...@avidbots.com wrote:

Another question that I forgot to add:

4.  Currently we are running amcl against maps which are stored as png images.  I assume we would not be able to run cartographer against these png maps because they do not store the Sparse Pose Graph representation and there is no way of convering these png maps to cartographer sparse pose graph maps.  Is this assumption correct?

Yes, correct.

In that case, is there currently or in the future a way of editing the map that is used for localization?
With AMCL and png images, it is very easy (with GIMP for instance) to remove objects that were present during the initial mapping. That is very useful to clean the map of non fixed object : people, light furnitures, chairs, etc...
Cheers
g.

On Wednesday, November 29, 2017 at 4:53:22 PM UTC+1, Jihoon Lee wrote:

Hi,

On 29.11.2017 16:06, mus...@avidbots.com wrote:

and yet another questions:

5.  If the robot localizes in a map and the map has changed.  Is there currently a way to update the map (Basically Lifelong mapping).

Not fully supported yet. But, it will be eventually since it is listed as a project in the cartographer project page.

On Wednesday, November 29, 2017 at 10:00:56 AM UTC-5, mus...@avidbots.com wrote:

Another question that I forgot to add:

4.  Currently we are running amcl against maps which are stored as png images.  I assume we would not be able to run cartographer against these png maps because they do not store the Sparse Pose Graph representation and there is no way of convering these png maps to cartographer sparse pose graph maps.  Is this assumption correct?

Yes, correct.

On Wednesday, November 29, 2017 at 9:58:07 AM UTC-5, mus...@avidbots.com wrote:

I am interested in using cartographer's pure localization feature and I am wondering if it currently supports the following features:

1.  The ability to map the place first and then save the cartographer map (if currently implemented, what is the largest map or the size of trajectory that this currently supports?)

2.  Run pure localization against the map that was saved in step 1.

For 1 & 2, check out Pure localization demo.

3.  The ability to do 2 but given an initial pose so that cartographer knows right away its location relative to the map

It gets supported recently. You can pass initial_pose as argument when you start a new trajectory. Some thing like this.

> cartographer_start_trajectory -initial_pose "{ to_trajectory_id: 0, timestamp: now, translation : { 0, 0, 0}, rotation : { ... }}" ..<more args


Cheers,
Jihoon

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[mus...@avidbots.com]

Thanks for you important question Guillaume, I'm also interested in the answer to it.  I also had a follow up question:

For lifelong mapping, according to Github much of the milestone has been implemented.  It's my understanding that we can now serialize maps, load maps and delete submaps to prevent the serialized data structure from getting infinitely large over a long time.  I had a few questions about this features:

1.  What strategy is used currently to delete submaps?

2.  I see that issue #253 is the only issue outstanding for Lifelong mapping.  It seems to refer to serializing the range, odometry and other sensor data.  I don't understand why that is needed for Lifelong mapping