Closed shreyashub closed 6 years ago
gaschler
commented
6 years ago Having just a quick look at your configuration,
TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 1 is too low, this is ~0.01 s, I'd try something in the 0.5 s range first.Concerning your questions, (4.) Of course ground is part of the submaps, it's good for scan matching. (5.) There is no such feature.
shreyashub
commented
6 years ago Changing TRAJECTORY_BUILDER_3D.num_accumulated_range_data to 2 or 4, doesn't seem to make a big change. But I'll try again.
I'll try fixing the lidar data too.
In the demo bagfile, it assigns the ground as white(very light). But in my case it's pretty dark. Is that a problem?
Any other insights will be deeply appreciated.
gaschler
commented
6 years ago Since your range data messages are very small, I'd recommend to try
TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 50 or similar to accumulate one lidar revolution.
shreyashub
commented
6 years ago Thanks, it(loop closure) works almost perfectly (image). But now the maps loose detail, and at a particular point its very hazy old(clear) , new(not clear)
gaschler
commented
6 years ago I believe the result quality are limited by the high Lidar frame drop.
The color of the x-ray images in rviz are some projection of the submap data for visualization only, and IMHO not a strong indicator for the quality of the submaps.
Closing, feel free to re-open, for instance when better Lidar recordings are available.
tiberium24
commented
5 years ago Hello could you please help me,
I am trying to use the same Quanergy M8 lidar with Cartographer in ROS. My approach is similar to yours. I am first trying to test it only with lidar point cloud without IMU or other sensors. I get the following error however and no map is built or scan match points published. The topic Sensor/points is publishing however.
My launch file:
<launch>
<param name="robot_description"
textfile="$(find cartographer_ros)/urdf/test1.urdf" />
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename test1.lua"
output="screen">
<remap from="points2" to="Sensor/points" />
<!-- <remap from="imu" to="imu/data" />-->
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<node name="rviz" pkg="rviz" type="rviz" required="true"/>
</launch>My lua file:
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link",
published_frame = "base_link",
odom_frame = "base_link",
provide_odom_frame = false,
publish_frame_projected_to_2d = false,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 0,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
num_point_clouds = 1,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1.,
fixed_frame_pose_sampling_ratio = 1.,
imu_sampling_ratio = 1.,
landmarks_sampling_ratio = 1.,
}
TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 65
MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_nodes = 320
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.62
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
return optionsMy urdf:
<robot name="cartographer_backpack_3d">
<material name="orange">
<color rgba="1.0 0.5 0.2 1" />
</material>
<material name="gray">
<color rgba="0.2 0.2 0.2 1" />
</material>
<!-- <link name="imu_link">
<visual>
<origin xyz="0.0 0.0 0.0" />
<geometry>
<box size="0.06 0.04 0.02" />
</geometry>
<material name="orange" />
</visual>
</link> -->
<link name="Sensor">
<visual>
<origin xyz="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.07" radius="0.05" />
</geometry>
<material name="gray" />
</visual>
</link>
<link name="base_link" />
<!-- <joint name="imu_link_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
<origin xyz="0 0 0" rpy="3.1416 0 0" />
</joint>
-->
<joint name="Lidar_joint" type="fixed">
<parent link="base_link" />
<child link="Sensor" />
<origin xyz="0.01 0. 0.19" rpy="0. -0.1745 3.1416" />
</joint>
</robot>
rdesc
commented
5 years ago @tiberium24 just add TRAJECTORY_BUILDER_2D.use_imu_data = false in your lua file. By default it is set to true
Duke-Allen
commented
5 years ago Hello, I am using a 16-lines LIDAR and IMU to build 3D map by cartographer.
I tun the parameters and run it with no error, the results are as follows:
There is a big gap with the real environment. I think the map is messy. What is the problem of this result? How can I solve it? This is the validate result of my bag:
Here are my files: demo_rsldiar_3d.launch rslidar_3d.launch mydemo_3d.rviz rslidar_2d.urdf rslidar_scan_3d.lua my data bag Do you know the problem?
Hi, I have used cartographer to create an outdoor map using a 3D lidar(Quanergy M8). Data is collected from a car moving at about 12 miles/hr in an dynamic environment. 1.It works fine with tiny maps(image, bagfile ), 2.But with a large map, there is a huge drift( image, odometry from ins )
3.Even if I don't provide odometery to it, there is no difference in the map that is generated. 4.It also takes the ground as an obstacle and gives it a dark color. Is there a way around it? 5.Also is there an way to remove dynamic objects to not be mapped. Attachments: rosbag_validate output : link bag_file : link URDF, rosbag_validate CSV ,Config Files and Launch files link Forked Repo : link