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Rtabmap can use 3D Lidar pretty ok. LegoLoam or hdl_graph_slam is maybe other options for you as they are a bit more up to date.

Rtabmap can use 3D Lidar pretty ok. Cartographer, LegoLoam or hdl_graph_slam is maybe other options for you as they are a bit more up to date. date.

Rtabmap can use 3D Lidar pretty ok. Cartographer, LegoLoam or hdl_graph_slam is are maybe other options for you as they are a bit more up to date.

Rtabmap can use 3D Lidar pretty ok. Cartographer, LegoLoam or hdl_graph_slam are maybe other options for you as they are a bit more up to date.

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
  <param name="subscribe_rgbd"       type="bool" value="false"/>
  <param name="frame_id"             type="string" value="$(arg frame_id)"/>
  <param name="subscribe_depth"      type="bool" value="false"/>
  <param name="subscribe_rgb"        type="bool" value="false"/>
  <param name="subscribe_scan_cloud" type="bool" value="true"/>
  <param name="approx_sync"          type="bool" value="true"/>

  <remap from="scan_cloud" to="/os1_cloud_node/points"/>
  <remap from="grid_map" to="/map"/>

  <!-- RTAB-Map's parameters -->
  <param name="Rtabmap/DetectionRate"          type="string" value="1"/>
  <param name="RGBD/NeighborLinkRefining"      type="string" value="false"/>
  <param name="RGBD/ProximityMaxGraphDepth"    type="string" value="0"/>
  <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
  <param name="RGBD/AngularUpdate"             type="string" value="0.05"/>
  <param name="Mem/NotLinkedNodesKept"         type="string" value="false"/>
  <param name="Mem/STMSize"                    type="string" value="30"/>

  <param name="Reg/Strategy"                   type="string" value="1"/>
  <param name="Grid/CellSize"                  type="string" value="0.2"/>
  <param name="Grid/RangeMax"                  type="string" value="20"/>
  <param name="Grid/ClusterRadius"             type="string" value="1"/>
  <param name="Grid/GroundIsObstacle"          type="string" value="false"/>
  <param name="Grid/RayTracing"                type="string" value="true"/>
  <param name="Grid/3D"                        type="string" value="false"/>
  <param name="Grid/MaxObstacleHeight"         type="string" value="1.5"/>


  <!-- ICP parameters -->
  <param name="Icp/VoxelSize"                  type="string" value="0.2"/>
  <param name="Icp/PointToPlaneK"              type="string" value="20"/>
  <param name="Icp/PointToPlaneRadius"         type="string" value="0"/>
  <param name="Icp/PointToPlane"               type="string" value="false"/>
  <param name="Icp/Iterations"                 type="string" value="10"/>
  <param name="Icp/Epsilon"                    type="string" value="0.001"/>
  <param name="Icp/MaxTranslation"             type="string" value="3"/>
  <param name="Icp/MaxCorrespondenceDistance"  type="string" value="1"/>
  <param name="Icp/PM"                         type="string" value="true"/>
  <param name="Icp/PMOutlierRatio"             type="string" value="0.7"/>
  <param name="Icp/CorrespondenceRatio"        type="string" value="0.4"/>
</node>

Rtabmap can use 3D Lidar pretty ok. Cartographer, LegoLoam or hdl_graph_slam are maybe other options for you as they are a bit more up to date.

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
  <param name="subscribe_rgbd"       type="bool" value="false"/>
  <param name="frame_id"             type="string" value="$(arg frame_id)"/>
  <param name="subscribe_depth"      type="bool" value="false"/>
  <param name="subscribe_rgb"        type="bool" value="false"/>
  <param name="subscribe_scan_cloud" type="bool" value="true"/>
  <param name="approx_sync"          type="bool" value="true"/>

  <remap from="scan_cloud" to="/os1_cloud_node/points"/>
  <remap from="grid_map" to="/map"/>

  <!-- RTAB-Map's parameters -->
  <param name="Rtabmap/DetectionRate"          type="string" value="1"/>
  <param name="RGBD/NeighborLinkRefining"      type="string" value="false"/>
  <param name="RGBD/ProximityMaxGraphDepth"    type="string" value="0"/>
  <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
  <param name="RGBD/AngularUpdate"             type="string" value="0.05"/>
  <param name="Mem/NotLinkedNodesKept"         type="string" value="false"/>
  <param name="Mem/STMSize"                    type="string" value="30"/>

  <param name="Reg/Strategy"                   type="string" value="1"/>
  <param name="Grid/CellSize"                  type="string" value="0.2"/>
  <param name="Grid/RangeMax"                  type="string" value="20"/>
  <param name="Grid/ClusterRadius"             type="string" value="1"/>
  <param name="Grid/GroundIsObstacle"          type="string" value="false"/>
  <param name="Grid/RayTracing"                type="string" value="true"/>
  <param name="Grid/3D"                        type="string" value="false"/>
  <param name="Grid/MaxObstacleHeight"         type="string" value="1.5"/>


  <!-- ICP parameters -->
  <param name="Icp/VoxelSize"                  type="string" value="0.2"/>
  <param name="Icp/PointToPlaneK"              type="string" value="20"/>
  <param name="Icp/PointToPlaneRadius"         type="string" value="0"/>
  <param name="Icp/PointToPlane"               type="string" value="false"/>
  <param name="Icp/Iterations"                 type="string" value="10"/>
  <param name="Icp/Epsilon"                    type="string" value="0.001"/>
  <param name="Icp/MaxTranslation"             type="string" value="3"/>
  <param name="Icp/MaxCorrespondenceDistance"  type="string" value="1"/>
  <param name="Icp/PM"                         type="string" value="true"/>
  <param name="Icp/PMOutlierRatio"             type="string" value="0.7"/>
  <param name="Icp/CorrespondenceRatio"        type="string" value="0.4"/>
</node>