mapping updates (#96)

Author: padhupradheep

configs/mp_400/mapping.yaml

@@ -16,20 +16,13 @@ slam_toolbox:
     scan_topic: /scan
     mode: mapping #localization
 
-    # if you'd like to immediately start continuing a map at a given pose
-    # or at the dock, but they are mutually exclusive, if pose is given
-    # will use pose
-    #map_file_name: test_steve
-    #map_start_pose: [0.0, 0.0, 0.0]
-    #map_start_at_dock: true
-
     debug_logging: false
     throttle_scans: 1
     transform_publish_period: 0.02 #if 0 never publishes odometry
     map_update_interval: 5.0
-    resolution: 0.05
+    resolution: 0.03
     max_laser_range: 20.0 #for rastering images
-    minimum_time_interval: 0.5
+    minimum_time_interval: 0.25
     transform_timeout: 0.2
     tf_buffer_duration: 30.
     stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
@@ -38,31 +31,31 @@ slam_toolbox:
     # General Parameters
     use_scan_matching: true
     use_scan_barycenter: true
-    minimum_travel_distance: 0.5
-    minimum_travel_heading: 0.5
+    minimum_travel_distance: 0.3
+    minimum_travel_heading: 0.3
     scan_buffer_size: 10
-    scan_buffer_maximum_scan_distance: 10.0
+    scan_buffer_maximum_scan_distance: 5.0
     link_match_minimum_response_fine: 0.1  
     link_scan_maximum_distance: 1.5
-    loop_search_maximum_distance: 3.0
+    loop_search_maximum_distance: 1.5
     do_loop_closing: true 
     loop_match_minimum_chain_size: 10           
-    loop_match_maximum_variance_coarse: 3.0  
-    loop_match_minimum_response_coarse: 0.35    
-    loop_match_minimum_response_fine: 0.45
+    loop_match_maximum_variance_coarse: 1.5  
+    loop_match_minimum_response_coarse: 0.25    
+    loop_match_minimum_response_fine: 0.4
 
     # Correlation Parameters - Correlation Parameters
-    correlation_search_space_dimension: 0.5
+    correlation_search_space_dimension: 0.3
     correlation_search_space_resolution: 0.01
     correlation_search_space_smear_deviation: 0.1 
 
     # Correlation Parameters - Loop Closure Parameters
-    loop_search_space_dimension: 8.0
+    loop_search_space_dimension: 1.0
     loop_search_space_resolution: 0.05
     loop_search_space_smear_deviation: 0.03
 
     # Scan Matcher Parameters
-    distance_variance_penalty: 0.5      
+    distance_variance_penalty: 0.3      
     angle_variance_penalty: 1.0    
 
     fine_search_angle_offset: 0.00349     

configs/mp_500/mapping.yaml

@@ -16,20 +16,13 @@ slam_toolbox:
     scan_topic: /scan
     mode: mapping #localization
 
-    # if you'd like to immediately start continuing a map at a given pose
-    # or at the dock, but they are mutually exclusive, if pose is given
-    # will use pose
-    #map_file_name: test_steve
-    #map_start_pose: [0.0, 0.0, 0.0]
-    #map_start_at_dock: true
-
     debug_logging: false
     throttle_scans: 1
     transform_publish_period: 0.02 #if 0 never publishes odometry
     map_update_interval: 5.0
-    resolution: 0.05
+    resolution: 0.03
     max_laser_range: 20.0 #for rastering images
-    minimum_time_interval: 0.5
+    minimum_time_interval: 0.25
     transform_timeout: 0.2
     tf_buffer_duration: 30.
     stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
@@ -38,31 +31,31 @@ slam_toolbox:
     # General Parameters
     use_scan_matching: true
     use_scan_barycenter: true
-    minimum_travel_distance: 0.5
-    minimum_travel_heading: 0.5
+    minimum_travel_distance: 0.3
+    minimum_travel_heading: 0.3
     scan_buffer_size: 10
-    scan_buffer_maximum_scan_distance: 10.0
+    scan_buffer_maximum_scan_distance: 5.0
     link_match_minimum_response_fine: 0.1  
     link_scan_maximum_distance: 1.5
-    loop_search_maximum_distance: 3.0
+    loop_search_maximum_distance: 1.5
     do_loop_closing: true 
     loop_match_minimum_chain_size: 10           
-    loop_match_maximum_variance_coarse: 3.0  
-    loop_match_minimum_response_coarse: 0.35    
-    loop_match_minimum_response_fine: 0.45
+    loop_match_maximum_variance_coarse: 1.5  
+    loop_match_minimum_response_coarse: 0.25    
+    loop_match_minimum_response_fine: 0.4
 
     # Correlation Parameters - Correlation Parameters
-    correlation_search_space_dimension: 0.5
+    correlation_search_space_dimension: 0.3
     correlation_search_space_resolution: 0.01
     correlation_search_space_smear_deviation: 0.1 
 
     # Correlation Parameters - Loop Closure Parameters
-    loop_search_space_dimension: 8.0
+    loop_search_space_dimension: 1.0
     loop_search_space_resolution: 0.05
     loop_search_space_smear_deviation: 0.03
 
     # Scan Matcher Parameters
-    distance_variance_penalty: 0.5      
+    distance_variance_penalty: 0.3      
     angle_variance_penalty: 1.0    
 
     fine_search_angle_offset: 0.00349     

configs/mpo_700/mapping.yaml

@@ -26,10 +26,10 @@ slam_toolbox:
     debug_logging: false
     throttle_scans: 1
     transform_publish_period: 0.02 #if 0 never publishes odometry
-    map_update_interval: 5.0
-    resolution: 0.05
-    max_laser_range: 20.0 #for rastering images
-    minimum_time_interval: 0.5
+    map_update_interval: 2.0
+    resolution: 0.03
+    max_laser_range: 29.0 #for rastering images
+    minimum_time_interval: 0.25
     transform_timeout: 0.2
     tf_buffer_duration: 30.
     stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
@@ -38,18 +38,18 @@ slam_toolbox:
     # General Parameters
     use_scan_matching: true
     use_scan_barycenter: true
-    minimum_travel_distance: 0.5
-    minimum_travel_heading: 0.5
+    minimum_travel_distance: 0.3
+    minimum_travel_heading: 0.3
     scan_buffer_size: 10
-    scan_buffer_maximum_scan_distance: 10.0
+    scan_buffer_maximum_scan_distance: 5.0
     link_match_minimum_response_fine: 0.1  
     link_scan_maximum_distance: 1.5
     loop_search_maximum_distance: 3.0
     do_loop_closing: true 
     loop_match_minimum_chain_size: 10           
-    loop_match_maximum_variance_coarse: 3.0  
-    loop_match_minimum_response_coarse: 0.35    
-    loop_match_minimum_response_fine: 0.45
+    loop_match_maximum_variance_coarse: 1.5 
+    loop_match_minimum_response_coarse: 0.25    
+    loop_match_minimum_response_fine: 0.4
 
     # Correlation Parameters - Correlation Parameters
     correlation_search_space_dimension: 0.5

launch/mapping.launch.py

@@ -0,0 +1,44 @@
+# Neobotix GmbH
+# Author: Pradheep Padmanabhan
+
+import os
+from ament_index_python.packages import get_package_share_directory
+import launch
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    param_file_arg = LaunchConfiguration('param_file')
+
+    # Check for the robot with which mapping needs to be done
+    with open('robot_name.txt', 'r') as file:
+        my_neo_robot = file.read()
+
+    # Declare launch argument for parameter file
+    declare_param_file_arg = DeclareLaunchArgument(
+        'param_file', 
+        default_value = os.path.join(
+                get_package_share_directory('neo_simulation2'),
+                'configs/' + my_neo_robot,
+                'mapping.yaml'),
+        description='Param file that needs to be used for navigation, sets according to robot by default'
+    )
+
+    ld.add_action(declare_param_file_arg)
+    nav2_launch_file_dir = os.path.join(get_package_share_directory('neo_nav2_bringup'), 'launch')
+    
+    mapping = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([nav2_launch_file_dir, '/mapping.launch.py']),
+        launch_arguments={
+            'use_sim_time': 'true',
+            'params_file': param_file_arg,
+        }.items(),
+    )
+
+    ld.add_action(mapping)
+
+    return ld