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noetic

ROS Software Maintainer: Clobot

Clober SLAM Package

Clober e-Manual

• Clober e-manual on gitbook

• Github for Clobot

ROS API

clober_slam

This package is used gmapping.

Subscribed Topics

tf (tf/tfMessage)

• Transforms necessary to relate frames for laser, base, and odometry (see below)

scan (sensor_msgs/LaserScan)

• Laser scans to create the map from

Published Topics

map_metadata (nav_msgs/MapMetaData)

• Get the map data from this topic, which is latched, and updated periodically.

map (nav_msgs/OccupancyGrid)

• Get the map data from this topic, which is latched, and updated periodically

~entropy (std_msgs/Float64)

• Estimate of the entropy of the distribution over the robot's pose (a higher value indicates greater uncertainty). New in 1.1.0.

Services

dynamic_map (nav_msgs/GetMap)

• Call this service to get the map data

Parameters

~base_frame (string, default: base_footprint)

• The frame attached to the mobile base.

~odom_frame (string, default: odom)

• The frame attached to the odometry system.

~map_update_interval (double, default: 2.0)

• Map update interval (sec).

~maxUrange (double, default: 4.0)

• Max Range of laser sensor to use (meter).

~minimumScore (float, default: 100)

• Min Score considering the results of scan matching.

~linearUpdate (float, default: 0.2)

• Max Range of laser sensor to use (meter).

~angularUpdate (float, default: 0.2)

• Min rotation angle required for processing.

~temporalUpdate (float, default: 0.5)

• If the last scan time exceeds this update time, the scan is performed. Negative values will be ignored and not used.

~delta (float, default: 0.05)

• Max Range of laser sensor to use (meter).

~lskip (int, default: 0)

• Number of beams to skip in each scan.

~particles (int, default: 120)

• Number of particles in the filter.

~sigma (float, default: 0.05)

• Standard deviation of laser-assisted search.

~delta (float, default: 0.05)

• Max Range of laser sensor to use (meter).

~kernelSize (int, default: 1)

• Window size of laser-assisted search.

~lstep (float, default: 0.05)

• Initial search step (translation).

~astep (float, default: 0.05)

• Initial search step (rotation).

~iterations (int, default: 5)

• Number of scan-matching iterations.

~lsigma (float, default: 0.075)

• The sigma of a beam used for likelihood computation

~ogain (float, default: 3.0)

• Gain to be used while evaluating the likelihood.

~srr (float, default: 0.01)

• Odometry error (translation→ translation).

~srt (float, default: 0.02)

• Odometry error (translation→ translation).

~srr (float, default: 0.01)

• Odometry error (rotation → translation).

~stt (float, default: 0.02)

• Odometry error (rotation → rotation).

~resampleThreshold (float, default: 0.5)

• Resampling threshold value.

~xmin (float, default: -10.0)

• Initial map size (min x).

~ymin (float, default: -10.0)

• Initial map size (min y).

~xmax (float, default: 10.0)

• Initial map size (max x).

~ymax (float, default: 10.0)

• Initial map size (max y).

~llsamplerange (float, default: 0.01)

• Translational sampling range for the likelihood.

~llsamplestep (float, default: 0.01)

• Translational sampling step for the likelihood.

~lasamplerange (float, default: 0.005)

• Angular sampling range for the likelihood.

~lasamplestep (float, default: 0.005)

• Angular sampling step for the likelihood.

Required tf Transforms

<the frame attached to incoming scans> → base_link

• usually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher.

base_link → odom

• usually provided by the odometry system (e.g., the driver for the mobile base)

Provided tf Transforms

map → odom

• the current estimate of the robot's pose within the map frame