How to use the cartographer with an absolute landmarks location system

asked 2021-11-30 04:04:52 -0600

DiegoM_A2B
11 ●1 ●3 ●2

Hi all! I have two positions, the first one given by Cartographer, the second one given by a landmarks system, recognized a specific constellation the absolute position and rotation of the ROS system is given. This second position is printed only when a constellation is recognized, then the system should switch to the location given by Cartographer. The two poses can easily be converted as Eigen::Affine3d and used.

Any suggestions on how to implement this functionality? Also using some ROS library?

answered 2021-12-01 14:04:01 -0600

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

updated 2021-12-01 16:21:34 -0600

Hi @DiegoM_A2B:

Cartographer offers ROS integration. For more info refer to this documentation

For landmarking, you have message type LandmarkEntry.msg as

string id
geometry_msgs/Pose tracking_from_landmark_transform
float64 translation_weight
float64 rotation_weight

and LandmarkList.msg as:

std_msgs/Header header
cartographer_ros_msgs/LandmarkEntry[] landmarks

Take a look at this thread: https://github.com/cartographer-proje... on a discussion how to incorporate landmarking. Also the suggested script to achieve this : https://gist.github.com/mojovski/bb14...

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Thanks osilva, but my problem is a bit different... in practice I have two separate ROS trees, each configured correctly and each providing a pose: the first is given by the relative position provided by Cartographer, the second is printed by a system of landmarks that recognizing a specific constellation provides the pose of the robot (position and rotation). Now my problem, I think trivial in fact, is to join the two positions by roto-translating (?!) the position provided by Carto when a constellation is detected? Thanks in advice.

DiegoM_A2B ( 2021-12-02 02:17:33 -0600 )edit

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