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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
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ROS2 foxy: pure_localization=true, using map_server load a map, but cartographer still keep publish map #1582

Open ipa-rwu opened 3 years ago

ipa-rwu commented 3 years ago

Hello,

I am trying to use pure localization in ROS2 foxy. But catorgrapher still keep updating map even though I set pure_localization=true. Basicly I am using the robot I built. It only use Lidar and doesn't have odom. As you can find Config for Slam, I can create a map (not so good but can be used I think)

Based on tuning guide for pure-localization-in-a-given-map, and similar issues as #1403, #1258, #1031 I tuned the param as followed:

TRAJECTORY_BUILDER.pure_localization = true

POSE_GRAPH.optimize_every_n_nodes = 2
POSE_GRAPH.constraint_builder.sampling_ratio = 0.05
POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.global_constraint_search_after_n_seconds = 20.
POSE_GRAPH.constraint_builder.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 6
MAP_BUILDER.num_background_threads = 8
POSE_GRAPH.global_sampling_ratio = 0.003

I use nav_map_sever to load map, but I found the catrographer was still publishing to /map.

Any help would be appreciated. Thanks.

MichaelGrupp commented 3 years ago

Probably you are running the cartographer_occupancy_grid_node in addition to the cartographer_node. The occupancy grid node publishes to /map. If you don't want anything on /map by this node, you need to remove it from your launch.

ipa-rwu commented 3 years ago

@MichaelGrupp Thanks you very much for your advice. I will try out and come back to you (Probably this weekends)

nedo99 commented 3 years ago

Hi,

I was wondering how did you manage to run cartographer with foxy. Which launch files were you using? The ones that are in the ros2-dashing-1.0.0 branch are still for ROS1, not ported to ROS2? When you use them with foxy, you get an invalid launch file error. I guess you used the ones here: https://github.com/ipa-rwu/minion_stack_ros2/tree/main/minion_cartographer/launch.

Are there default examples for cartographer for ROS2 somewhere that one could use for testing?

Regards, Nedim