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Package Summary
mrpt_ekf_slam_2d
- Author: Jose Luis
- License: BSD
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
mrpt_ekf_slam_2d
- Author: Jose Luis
- License: BSD
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks.
- Maintainer status: maintained
- Maintainer: Jose Luis <jlblanco AT ual DOT es>
- Author: Jose Luis, Vladislav Tananaev
- License: BSD
- External website: http://mrpt.org/
- Bug / feature tracker: https://github.com/mrpt-ros-pkg/mrpt_slam/issues
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks.
- Maintainer status: maintained
- Maintainer: Jose Luis <jlblanco AT ual DOT es>
- Author: Jose Luis, Vladislav Tananaev
- License: BSD
- External website: http://mrpt.org/
- Bug / feature tracker: https://github.com/mrpt-ros-pkg/mrpt_slam/issues
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks.
- Maintainer status: maintained
- Maintainer: Jose Luis <jlblanco AT ual DOT es>
- Author: Jose Luis, Vladislav Tananaev
- License: BSD
- External website: http://mrpt.org/
- Bug / feature tracker: https://github.com/mrpt-ros-pkg/mrpt_slam/issues
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks.
- Maintainer status: maintained
- Maintainer: Jose Luis <jlblanco AT ual DOT es>
- Author: Jose Luis, Vladislav Tananaev
- License: BSD
- External website: http://mrpt.org/
- Bug / feature tracker: https://github.com/mrpt-ros-pkg/mrpt_slam/issues
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: master)
Package Summary
This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks.
- Maintainer status: maintained
- Maintainer: Jose Luis Blanco-Claraco <joseluisblancoc AT gmail DOT com>
- Author: Jose Luis, Vladislav Tananaev
- License: BSD
- External website: http://mrpt.org/
- Bug / feature tracker: https://github.com/mrpt-ros-pkg/mrpt_slam/issues
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: melodic-devel)
Package Summary
This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks.
- Maintainer status: developed
- Maintainer: Jose Luis Blanco-Claraco <joseluisblancoc AT gmail DOT com>
- Author: Jose Luis, Vladislav Tananaev
- License: BSD
- External website: http://mrpt.org/
- Bug / feature tracker: https://github.com/mrpt-ros-pkg/mrpt_slam/issues
- Source: git https://github.com/mrpt-ros-pkg/mrpt_slam.git (branch: ros1)
Contents
Description
The sections below describe the API of this package for 2D (x,y,phi) EKF-based SLAM. This method takes input measurements to landmarks in the form of range-bearing observations.
Further documentation
The ROS node mrpt_ekf_slam_2d is a wrapper for the C++ classmrpt::slam::CRangeBearingKFSLAM2D , part of MRPT. Thus, check out the documentation of that class for further details.
For the convention on coordinate frames see ROS REP 105: "Coordinate Frames for Mobile Platforms".
Usage
In order to use mrpt_ekf_slam_2d package it is necessary to install the last MRPT build and themrpt_navigation (see also the tutorial) .
Example
The following video represents the EKF 2D SLAM in Rviz and MRPT GUI:
The example of usage EKF 2D SLAM in online regime:
roslaunch mrpt_ekf_slam_2d ekf_slam_2d.launch
The example of usage EKF 2D SLAM from .rawlog file:
roslaunch mrpt_ekf_slam_2d ekf_slam_2d_rawlog.launch
Nodes
mrpt_ekf_slam_2d
The mrpt_ekf_slam_2d node takes in mrpt_msgs/ObservationRangeBearing messages and builds a map with landmarks and robot pose. The map can be retrieved via a ROS topic.Subscribed Topics
tf (tf/tfMessage)- Transforms necessary to relate frames for laser, base, and odometry (see below)
- Landmarks to create the map
Published Topics
state_viz (visualization_msgs/MarkerArray)- Visualization of the current state of the EKF
- Visualization of the currently observed landmarks by robot
Parameters
~global_frame_id (string, default: "map")- the frame attached to the map
- The frame attached to the mobile base
- The frame attached to the odometry system
- The name of topics with 2d laser scans or beacons (the name of topic should contain word "scan" or "beacon")
- The path to the ini file with MRPT settings for SLAM (see tutorial folder)
- The path to rawlog file(if the rawlog file is not exists the SLAM starts in online regime)
- Delay for replay SLAM from rawlog file.
- The parameter for rescaling covariance ellipses visualization.
Required tf Transforms
<the frame attached to incoming scans> → base_link- The relative pose of the laser sensor w.r.t. the robot. Usually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher.
- The robot odometry, 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
