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Hand-over Piloting #83

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Hand-over Piloting #83

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c6e6bdf
Standalone ICP + tracking camera.
gawela Feb 4, 2021
b06d345
Some cleanup.
gawela Feb 4, 2021
4015271
Adjusted frames.
gawela Feb 4, 2021
59a1ae9
Flipped transformation.
hermannsblum Feb 4, 2021
0ba3f55
publish odometry pose for base frame
gasserl Feb 10, 2021
98d789a
additionally publish odometry pose with timer
gasserl Feb 10, 2021
000d889
connect tf tree with published robot model
gasserl Feb 10, 2021
98d8ec0
pull resolved merge conflict
gasserl Feb 26, 2021
64e0f9b
frames for piloting SMB
gasserl Feb 26, 2021
0e8a4a4
launch correction
gasserl Feb 26, 2021
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13 changes: 11 additions & 2 deletions ethzasl_icp_mapper/include/ethzasl_icp_mapper/dynamic_mapper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,8 @@ class Mapper {
void waitForMapBuildingCompleted();
void updateIcpMap(const DP *new_map_point_cloud);
void loadExternalParameters();
void publishTransforms(const ros::Time &stamp);
void publishCallback(const ros::TimerEvent& event);

// Services
bool getPointMap(map_msgs::GetPointMap::Request &req,
Expand Down Expand Up @@ -102,8 +104,10 @@ class Mapper {
ros::Publisher scan_pub_;
ros::Publisher outlier_pub_;
ros::Publisher odom_pub_;
ros::Publisher odom_base_pub_;
ros::Publisher odom_error_pub_;
ros::Publisher pose_pub_;
ros::Publisher pose_base_pub_;

// Services
ros::ServiceServer get_point_map_srv_;
Expand All @@ -118,6 +122,9 @@ class Mapper {
ros::ServiceServer initial_transform_srv_;
ros::ServiceServer load_published_map_srv_;

// Timers
ros::Timer publish_timer_;

// Time
ros::Time map_creation_time_;
ros::Time last_poin_cloud_time_;
Expand All @@ -131,6 +138,7 @@ class Mapper {
PM::ICPSequence icp_;
shared_ptr<PM::Transformation> transformation_;
shared_ptr<PM::DataPointsFilter> radius_filter_;
int dimp1_;

// multi-threading mapper
#if BOOST_VERSION >= 104100
Expand All @@ -144,14 +152,15 @@ class Mapper {

MapperParameters parameters_;
int odom_received_;
PM::TransformationParameters T_local_map_to_map_;
PM::TransformationParameters T_scanner_to_map_;
PM::TransformationParameters T_scanner_to_odom_;
PM::TransformationParameters T_odom_to_map_;
boost::thread publish_thread_;
boost::mutex publish_lock_;
boost::mutex icp_map_lock_;
int scan_counter_;

tf::TransformListener tf_listener_;
tf::TransformBroadcaster tf_broadcaster_;
};

}
Expand Down
1 change: 1 addition & 0 deletions ethzasl_icp_mapper/include/ethzasl_icp_mapper/mapper_parameters.h
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Expand Up @@ -30,6 +30,7 @@ struct MapperParameters {
bool subscribe_cloud;
bool subscribe_map;
std::string sensor_frame;
std::string base_frame;
std::string odom_frame;
std::string map_frame;
std::string tf_map_frame;
Expand Down
15 changes: 9 additions & 6 deletions ethzasl_icp_mapper/launch/supermegabot/supermegabot_dynamic_mapper.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@ Parameters for Center for robotics summer school 2019

<launch>

<arg name="map_frame" default="/map"/>

<node name="mapper" type="dynamic_mapper_node" pkg="ethzasl_icp_mapper" output="screen" >
<remap from="cloud_in" to="/rslidar_points" />
<param name="subscribe_scan" value="false"/>
Expand All @@ -16,11 +18,10 @@ Parameters for Center for robotics summer school 2019

<!--Put that back! -->
<param name="publishMapTf" value="false"/>
<param name="odom_frame" value="/world" /> #lidar

<param name="lidar_frame" value="rslidar" />
<param name="map_frame" value="/icp_map" />
<param name="tf_map_frame" value="/map" />
<param name="odom_frame" value="/realsense_t265_odom_frame" />
<param name="base_frame" value="/base" />
<param name="lidar_frame" value="/rslidar" />
<param name="map_frame" value="$(arg map_frame)" />
<param name="useROSLogger" value="true" />
<param name="inputQueueSize" value="1" />
<param name="tfRefreshPeriod" value="0.005" />
Expand All @@ -29,7 +30,9 @@ Parameters for Center for robotics summer school 2019
<param name="minReadingPointCount" value="1000" />
<param name="minMapPointCount" value="10000" /> <!-- quick fix to have map published each time -->
<param name="skip_frames" value="2" /> <!-- Skip this many frames before processing a new one-->

<param name="publish_rate" value="100" />
</node>

<node pkg="tf" type="static_transform_publisher" name="tracking_cam_to_base"
args="-0.309 -0.008 -0.351 0 0 0 1 /realsense_t265_pose_frame /base 100"/>
</launch>
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