LaMa ROS - Alternative Localization and Mapping for ROS.

https://github.com/iris-ua/iris_lama_ros

Developed and maintained by Eurico Pedrosa, University of Aveiro (C) 2019.

Overview

ROS integration of LaMa, a Localization and Mapping package from the Intelligent Robotics and Systems (IRIS) Laboratory, University of Aveiro. It provides 2D Localization and SLAM. It works great on a TurtleBot2 with a Raspberry Pi 3 Model B+ and an Hokuyo (Rapid URG).

Build

To build LaMa ROS, clone it from GitHub and use catkin to build.

mkdir src
cd src
git clone https://github.com/iris-ua/iris_lama
git clone https://github.com/iris-ua/iris_lama_ros
cd ..
catkin config --extend /opt/ros/noetic
catkin build

The build was tested in Ubuntu 20.04 with ROS noetic. It will not build with catkin_make or catkin_make_isolated.

SLAM nodes

To create a map using Online SLAM execute

rosrun iris_lama_ros slam2d_ros scan_topic:=base_scan

and to create a map using Particle Filter SLAM execute

rosrun iris_lama_ros pf_slam2d_ros scan_topic:=base_scan

and to create a map using Graph SLAM execute

rosrun iris_lama_ros graph_slam2d_ros scan_topic:=base_scan

All nodes will publish to expected topics such as /map and /tf.

Offline Mapping (rosbag)

If you want to obtain a map from a rosbag and you want to save time (a lot), you can let iris_lama_ros "play" the rosbag for you.

roslaunch iris_lama_ros slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag

or

roslaunch iris_lama_ros pf_slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag

Parameters

• ~global_frame_id: The frame attached to the map (default: "map").
• ~odom_frame_id: The frame attached to the odometry system (default: "odom").
• ~base_frame_id: The frame attached to the mobile base (default: "base_link").
• ~scan_topic: Laser scan topic to subscribe (default: "/scan").
• ~transform_tolerance: Defines how long map->odom transform is good for by future dating tf (default: 0.1)
• ~initial_pos_x: Initial x position (default: 0 meters).
• ~initial_pos_y: Initial y position (default: 0 meters).
• ~initial_pos_a: Initial rotation (or angle) (default: 0 rad).
• ~d_thresh: Traveled distance to accumulate before updating (default: 0.01 meters).
• ~a_thresh: Angular motion to accumulate before updating (default: 0.25 rads).
• ~l2_max: Maximum distance to use in the dynamic Euclidean distance map (default: 0.5 meters).
• ~resolution: Resolution of the grid maps (default: 0.05 meters).
• ~patch_size: Length of a patch (default: 32 cells).
• ~strategy: Scan matching optimization strategy, GaussNewton ("gm") or Levenberg Marquard ("lm") (default: "gn").
• ~max_iterations: Maximum number of iterations performed by the optimizer (default: 100)
• ~use_compression: Should the maps be compressed (default: false).
• ~compression_algorithm: Compression algorithm to use, lz4 or zstd (default: "lz4").
• ~cache_size: Size of the LRU used during online data compression (default: 100).
• ~mrange: Maximum laser scan range (default: 16 meters).
• ~beam_step: Number of beams to step (or skip) in each scan (default: 1).
• ~truncate: Truncate the laser scan range from start to "middle" (default: 0.0 meters, 0.0 means no truncation).
• ~truncate_ray: Truncate the laser scan range (or ray) from "middle" to end (default: 0.0 meters, 0.0 means no truncation).
• ~map_publish_period: How long between updates to the map (default: 5 seconds).
• ~transient_map: True to only keep the most recent portion of the map "sensed" by the latest surface (default": false)
• ~create_summary: (default: false)

Particle Filter SLAM only:

• ~d_thresh: Traveled distance to accumulate before updating (default: 0.5 meters).
• ~particles: Number of particles to use (default: 30).
• ~seed: RNG seed value, use 0 for a random seed from device (default: 0)
• ~threads: Number of working threads, -1 means disabled and 0 will expand to the available number of cores (default: -1).
• ~sigma: Measurement variance (default: 0.05).
• ~lgain: Gain value for smoothing the particles likelihood (default: 3.0).
• ~srr: Odometry error in rotation as a function of rotation (default: 0.1).
• ~str: Odometry error in rotation as a function of translation (default: 0.2).
• ~stt: Odometry error in translation as a function of translation (default: 0.1).
• ~srt: Odometry error in translation as a function of rotation (default: 0.1).

Graph SLAM only:

• ~d_thresh: Traveled distance to accumulate before updating (default: 0.25 meters).
• ~key_pose_distance: Traveled distance to accumulate before creating a key pose (default: 0.5)
• ~key_pose_angular: Angular motion to accumulate before creating a key pose (default: PI/2)
• ~key_pose_head_delay: Number of latest key poses to ignore for head key pose reference (default: 3)
• ~loop_search_max_distance: Maximum distance used in the adaptive search of a loop candidate (default: 15.0)
• ~loop_search_min_distance: Mininum distance used in the adaptive search of a loop candidate (default: 5.0)
• -loop_closure_scan_rmse: Maximum RMSE (root mean-squared-error) allowed for a loop candidate (default: 0.075). Increase this value if loop closure links are not being created properly. A good value would be 0.1. Beware of false positives when this value too high.
• ~loop_max_candidates: Maximum number of candidates considered for loop closure (default: 5)
• ~ignore_n_chain_poses: Number of the lastest key poses to ignore for loop closure (default: 20)

Services

• /dynamic_map:

Localization node

This node requires the existence of the /static_map service to load the map. To run the localization just execute

rosrun iris_lama_ros loc2d_ros scan:=base_scan

Please use rviz to set the initial pose. Global localization is not yet implemented.

Services

• /request_nomotion_update: Called to trigger an update without moving the robot (no-motion update)
• /global_localization: Called to trigger a global localization procedure.

Parameters

• ~global_frame_id: The frame attached to the map (default: "map").
• ~odom_frame_id: The frame attached to the odometry system (default: "odometry").
• ~base_frame_id: The frame attached to the mobile base (default: "base_link").
• ~scan_topic: Laser scan topic to subscribe (default: "/scan").
• ~mrange: Maximum laser scan range. When 0, maximum range defaults to the sensor maximum range. (default: 0 meters).
• ~transform_tolerance: Defines how long map->odom transform is good for by future dating tf (default: 0.1)
• ~temporal_update: Force an update if the last processed scan is older than this. A value less or equal to zero disables the check (default: 0.0).
• ~publish_tf: Publish TF correction from global_frame_id to odom_frame_id (default: true).
• ~beam_step: Number of beams to step (or skip) in each scan (default: 1).
• ~initial_pos_x: Initial x position (default: 0 meters).
• ~initial_pos_y: Initial y position (default: 0 meters).
• ~initial_pos_a: Initial rotation (or angle) (default: 0 rad).
• ~d_thresh: Traveled distance to accumulate before updating (default: 0.01 meters).
• ~a_thresh: Angular motion to accumulate before updating (default: 0.2 rads).
• ~l2_max: Maximum distance to use in the dynamic Euclidean distance map (default: 0.5 meters).
• ~strategy: Scan matching optimization strategy, GaussNewton ("gm") or Levenberg Marquard ("lm") (default: "gn").
• ~patch_size: Length of a patch (default: 32 cells).
• ~covariance_blend: Blending factor ([0,1]) between optimization covariance and sampling covariance (default: 0.0).
• ~use_map_topic: True to subscribe to the /map topic instead of requesting the map through the "static_map" service (default: false).
• ~first_map_only: True to use only the first map ever received (default: false).
• ~use_pose_on_new_map: True to use the current algorithm pose when the map changes (default: false).
• ~force_update_on_initial_pose: True to trigger a no-motion update when an initial pose is received (default: false)
• ~gloc_particles: Number of particles used to find the best global localization (default: 3000)
• ~gloc_thresh: Value at which a global localization particle is considered viable. (default: 0.15 RMSE)
• ~gloc_iters: Maximum number of iterations executed by the global localization procedure (default: 20)
• ~do_global_loc: True to trigger an initial global localization (default: false)