norlab_icp_mapper_ros

A bridge between norlab_icp_mapper and ROS.

Node Parameters

Name	Description	Possible values	Default Value
odom_frame	Frame used for odometry.	Any string	"odom"
robot_frame	Frame centered on the robot.	Any string	"base_link"
initial_map_file_name	Path of the file from which the initial map is loaded.	Any file path	""
initial_robot_pose	Transformation matrix in homogeneous coordinates describing the initial pose of the robot in the map frame.	Any matrix of dimension 3 or 4	"[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]"
final_map_file_name	Path of the file in which the final map is saved when is_online is false.	Any file path	"map.vtk"
final_trajectory_file_name	Path of the file in which the final trajectory is saved when is_online is false.	Any file path	"trajectory.vtk"
icp_config	Path of the file containing the libpointmatcher icp config.	Any file path	""
input_filters_config	Path of the file containing the filters applied to the sensor points.	Any file path	""
map_post_filters_config	Path of the file containing the filters applied to the map after the update.	Any file path	""
map_update_condition	Condition for map update.	{"overlap", "delay", "distance"}	"overlap"
map_update_overlap	Overlap between sensor and map points under which the map is updated.	[0, 1]	0.9
map_update_delay	Delay since last map update over which the map is updated (in seconds).	[0, ∞)	1.0
map_update_distance	Euclidean distance from last map update over which the map is updated (in meters).	[0, ∞)	0.5
map_publish_rate	Rate at which the map is published (in Hertz). It can be slower depending on the map update rate.	(0, ∞)	10.0
map_tf_publish_rate	Rate at which the map tf is published (in Hertz).	(0, ∞)	10.0
max_idle_time	Delay to wait being idle before shutting down ROS when is_online is false (in seconds).	[0, ∞)	10.0
min_dist_new_point	Distance from current map points under which a new point is not added to the map (in meters).	[0, ∞)	0.03
sensor_max_range	Maximum reading distance of the laser (in meters).	[0, ∞)	80.0
prior_dynamic	A priori probability of points being dynamic.	[0, 1]	0.6
threshold_dynamic	Probability at which a point is considered permanently dynamic.	[0, 1]	0.9
beam_half_angle	Half angle of the cones formed by the sensor laser beams (in rad).	[0, π/2]	0.01
epsilon_a	Error proportional to the sensor distance.	[0, ∞)	0.01
epsilon_d	Fix error on the sensor distance (in meters).	[0, ∞)	0.01
alpha	Probability of staying static given that the point was static.	[0, 1]	0.8
beta	Probability of staying dynamic given that the point was dynamic.	[0, 1]	0.99
is_3D	true when a 3D sensor is used, false when a 2D sensor is used.	{true, false}	true
is_online	true when online mapping is wanted, false otherwise.	{true, false}	true
compute_prob_dynamic	true when computation of probability of points being dynamic is wanted, false otherwise.	{true, false}	false
is_mapping	true when map updates are wanted, false when only localization is wanted.	{true, false}	true
save_map_cells_on_hard_drive	true when map cell storage on hard drive is wanted, false when map cell storage in RAM is wanted.	{true, false}	true
publish_tfs_between_registrations	When false, the map tf is published only after registration. Otherwise with map_tf_publish_rate.	{true, false}	true

Node Topics

Name	Description
points_in	Topic from which the input points are retrieved.
map	Topic in which the map is published.
icp_odom	Topic in which the corrected odometry is published.

Node Services

Name	Description	Parameter Name	Parameter Description
save_map	Saves the current map.	filename	Path of the file in which the map is saved.
save_trajectory	Saves the current trajectory.	filename	Path of the file in which the trajectory is saved.
reload_yaml_config	Reload all YAML config files.

Mapper Node Graph

flowchart LR

/mapper_node[ /mapper_node ]:::main

/points_in([ /points_in<br>sensor_msgs/msg/PointCloud2 ]):::bugged
/icp_odom([ /icp_odom<br>nav_msgs/msg/Odometry ]):::bugged
/map([ /map<br>sensor_msgs/msg/PointCloud2 ]):::bugged
/disable_mapping[/ /disable_mapping<br>std_srvs/srv/Empty \]:::bugged
/enable_mapping[/ /enable_mapping<br>std_srvs/srv/Empty \]:::bugged
/load_map[/ /load_map<br>norlab_icp_mapper_ros/srv/LoadMap \]:::bugged
/reload_yaml_config[/ /reload_yaml_config<br>std_srvs/srv/Empty \]:::bugged
/save_map[/ /save_map<br>norlab_icp_mapper_ros/srv/SaveMap \]:::bugged
/save_trajectory[/ /save_trajectory<br>norlab_icp_mapper_ros/srv/SaveTrajectory \]:::bugged

/points_in --> /mapper_node
/mapper_node --> /icp_odom
/mapper_node --> /map
/disable_mapping o-.-o /mapper_node
/enable_mapping o-.-o /mapper_node
/load_map o-.-o /mapper_node
/reload_yaml_config o-.-o /mapper_node
/save_map o-.-o /mapper_node
/save_trajectory o-.-o /mapper_node



subgraph keys[<b>Keys<b/>]
subgraph nodes[<b><b/>]
topicb((No connected)):::bugged
main_node[main]:::main
end
subgraph connection[<b><b/>]
node1[node1]:::node
node2[node2]:::node
node1 o-.-o|to server| service[/Service<br>service/Type\]:::service
service <-.->|to client| node2
node1 -->|publish| topic([Topic<br>topic/Type]):::topic
topic -->|subscribe| node2
node1 o==o|to server| action{{/Action<br>action/Type/}}:::action
action <==>|to client| node2
end
end
classDef node opacity:0.9,fill:#2A0,stroke:#391,stroke-width:4px,color:#fff
classDef action opacity:0.9,fill:#66A,stroke:#225,stroke-width:2px,color:#fff
classDef service opacity:0.9,fill:#3B8062,stroke:#3B6062,stroke-width:2px,color:#fff
classDef topic opacity:0.9,fill:#852,stroke:#CCC,stroke-width:2px,color:#fff
classDef main opacity:0.9,fill:#059,stroke:#09F,stroke-width:4px,color:#fff
classDef bugged opacity:0.9,fill:#933,stroke:#800,stroke-width:2px,color:#fff
style keys opacity:0.15,fill:#FFF
style nodes opacity:0.15,fill:#FFF
style connection opacity:0.15,fill:#FFF