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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
Apache License 2.0
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Landmarks not processed #1590

Open Niutels opened 3 years ago

Niutels commented 3 years ago

Hi,

I can't figure out how to use a landmark to localize my robot, could you help me figure what I am doing wrong?

What I can do:

  1. Generate a pbstream map and feed it a QR-code landmark recognized in the environment.
  2. Load the map while in pure localization mode.
  3. See the marker /landmark_poses_list with rviz, at the right spot in the registered map.
  4. Detect the landmark again while running in pure localization mode, I am able to see it at the correct pose in rviz too .

What I can't do: have cartographer localize my robot using this recognized landmark.

Thank you!

johuber commented 3 years ago

I don't quite understand which part fails above, what you describe sounds right. Are you failing to localize the robot in general or do you just feel like the landmarks are not being considered?

Are you trying to use landmarks only? Or are you trying to use landmarks for initial localization (kidnapped-robot)?

Niutels commented 3 years ago

Thanks for your reply, I feel like the landmarks are not being considered as I want to use them for initial localization.

johuber commented 3 years ago

I have also experimented with using them for an initial localization a while ago and came to the conclusion that it does not work.

Landmarks only seem to be considered once the robot is localized.

You'd have to dig pretty deep into the code to verify that, I think it would also be a welcome addition to the community if we could use it like that in case you have time.

@wohe , since you were involved in adding the implementation, do you remember why this is the case and if this is expected?

scenicpastures commented 3 years ago

I have found the same behaviour i.e. landmarks not impacting time to localize. See https://github.com/cartographer-project/cartographer/issues/1813

JosefGst commented 1 year ago

I succeeded initializing the robots location using landmarkers. What I did was simply increaseing the values for translation_weight and rotation_weight of my /landmark publisher. A value of 1e2 respectively worked for me. After startup it'll jump to the correct position if it dtects a landmark.