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ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
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How to run segmap on a multi-robot scenario? #130

Open sinetree opened 5 years ago

sinetree commented 5 years ago

https://www.researchgate.net/publication/321814298_An_online_multi-robot_SLAM_system_for_3D_LiDARs As this paper shows, I want to test SegMap with two bag files for loop closure detection, but I don't know how to do this. Does anyone know what settings need to be modified? Thanks.

paulacarbo07 commented 3 years ago

Hi! I am also interested in trying out SegMap for the multi-robot scenario. What I figured out is that taking as a reference the example YAML configuration files given for SegMap's configuration, change the number_of_robots parameter to the desired number, then the framework will be expecting point clouds named /na0/<assembled_cloud_subtopic>, /na1/<assembled_cloud_subtopic>, etc. respectively for as many number of robots have been specified. This "na" prefix can be changed in the robot_prefix parameter. The assembled_cloud_subtopic needs to be set accordingly. With this configuration I could make the multi-robot SegMap work, hope it's useful!

jngechong commented 3 years ago

Hi! I am also interested in trying out SegMap for the multi-robot scenario. What I figured out is that taking as a reference the example YAML configuration files given for SegMap's configuration, change the number_of_robots parameter to the desired number, then the framework will be expecting point clouds named /na0/<assembled_cloud_subtopic>, /na1/<assembled_cloud_subtopic>, etc. respectively for as many number of robots have been specified. This "na" prefix can be changed in the robot_prefix parameter. The assembled_cloud_subtopic needs to be set accordingly. With this configuration I could make the multi-robot SegMap work, hope it's useful!

Hi! I am interested in multi-robot scenario too, but now I got some problems. I want to implement multi robot simulation on a computer, and I have some questions about your comment: (1) I need to change not only the .yaml but also the .launch, right? (2) the original “robot_prefix" is "na", and if I want to change the "number_of_roboot" to "2", what should I change the "robot_prefix" to? Can you give me an example? I think it will let me know how to modify it. Thank you very much!