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Provides ROS integration for Cartographer.
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Cartographer2D using an IMU #728

Closed KevinRiehl closed 6 years ago

KevinRiehl commented 6 years ago

Dear Cartographer Team, I achieved to get Cartographer running in 2D with VLP 16 Hires. The results are awesome without IMU. Now I want to use my IMU (kobuki) but I have the same problem as before with my VLP 16 Hires laserscan with tfs.

I try to run a modified version of "demo_backpack_2d.launch". What should the IMUs topic name be? "/imu" ? In which tf should it be published?

Can you please answer me these two questions? Thank you very much, KevinRiehl

gaschler commented 6 years ago

What should the IMUs topic name be? "/imu" ?

Right, cartographer_ros expects incoming IMU messages on topic "imu". You can remap in the launch file if your topic name is different.

In which frame should it be published?

This depends on how you set up your URDF configuration. In the examples, we use frame_id "imu_link". I think you can directly use "base_link" if the IMU frame matches the robot frame. If your IMU device is rotated with respect to your robot coordinates, you can find an example setup in backpack_3d.urdf.

KevinRiehl commented 6 years ago

Well I don't know what to do, to be honest.

Can you explain me, what the meaning of "tracking_frame" and "published_frame" is?

In the situation of not using an IMU (https://github.com/googlecartographer/cartographer_ros/issues/725) I had to set both to "horizontal_laser_link", but normally it is set to "base_link".

My kobuki already publishes on the topic and frame "/base_link", this is why I have to change the cartographer code, because I cant change the kobuki code. In fact I have a turtlebot with a VLP 16 Hires put on its top.

Running my turtlebot bringup launchfile, I have following topics and frames: IMPORTANT: It is just my kobuki / turtlebot, not the velodyne!

rostopic list

/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/switch
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/joint_states
/mobile_base/commands/controller_info
/mobile_base/commands/digital_output
/mobile_base/commands/external_power
/mobile_base/commands/led1
/mobile_base/commands/led2
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/commands/sound
/mobile_base/commands/velocity
/mobile_base/controller_info
/mobile_base/debug/raw_control_command
/mobile_base/debug/raw_data_command
/mobile_base/debug/raw_data_stream
/mobile_base/events/bumper
/mobile_base/events/button
/mobile_base/events/cliff
/mobile_base/events/digital_input
/mobile_base/events/power_system
/mobile_base/events/robot_state
/mobile_base/events/wheel_drop
/mobile_base/sensors/bumper_pointcloud
/mobile_base/sensors/core
/mobile_base/sensors/dock_ir
/mobile_base/sensors/imu_data
/mobile_base/sensors/imu_data_raw
/mobile_base/version_info
/mobile_base_nodelet_manager/bond
/odom
/rosout
/rosout_agg
/tf
/tf_static

rosrun tf tf_monitor

RESULTS: for all Frames

Frames:
Frame: arm_base_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: base_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_depth_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_depth_optical_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_rgb_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_rgb_optical_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_sr300 published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_sr300_depth_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_sr300_depth_optical_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_sr300_rgb_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: camera_sr300_rgb_optical_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: caster_back_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: caster_front_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: cliff_sensor_front_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: cliff_sensor_left_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: cliff_sensor_right_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: gripper_active2_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: gyro_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: plate_bottom_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: plate_middle_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: plate_top_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: plate_utility_lower_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: plate_utility_upper_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_0_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_10_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_11_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_12_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_13_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_1_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_2_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_3_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_6_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_7_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_8_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_100mm_9_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_258mm_0_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_258mm_1_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_0_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_10_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_11_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_1_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_2_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_3_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_4_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_5_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_6_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_7_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_8_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: standoff_50mm_9_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0

All Broadcasters:
Node: unknown_publisher(static) 1e+08 Hz, Average Delay: 0 Max Delay: 0

Which files do I have to change in order to get all my stuff running? At the moment, I am just testing to change some parameters ins some files in a random process until I find a configuration that works. :( I dont even understand (in situation of not using IMU, https://github.com/googlecartographer/cartographer_ros/issues/725) why I have to set both frames to "horizontal_laser_link" instead of "base_link".

Thanks for your great support so far, without your help I would not have gotten realized my project without IMU so far. Kind and hopefull regards, Kevin

jimo123 commented 6 years ago

@KevinRiehl Hello, I'm using cartographer2D to build map with lidar and imu.when I run the node,the frame of "base_link" shakes so seriously so that it can build a integrated map.Can you please answer my question? There is my .lua file,the tf,topic graph and map.

iim_map_imu.lua.txt

map

rosgraph

frames

Thanks for your help!!

gaschler commented 6 years ago

Please provide urdf, lua, launch config as in fork so we can see the diff, following the issue template https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/.github/ISSUE_TEMPLATE

Is your IMU moving with respect to your laser sensor? If not, just set up a static config in urdf and do not publish these transforms.

In the situation of not using an IMU (#725) I had to set both to "horizontal_laser_link", but normally it is set to "base_link".

You can choose the frame names yourself. They need to be consistent across message frame_id, the urdf and lua configs.

Why to you publish odom to base_link (by /robot_driver)? This transform should only be publish by cartographer_ros as an output.

gaschler commented 6 years ago

Closing for inactivity, feel free to post when there is something new.

duandongbin000 commented 5 years ago

@jimo123 Hello, Now, i encountered the same problem when i run cartographer 2dslam(rplidar) , have you solved the problem?