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mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_ro_slam

Package Summary

Documented

mrpt_ekf_slam_3d

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_ro_slam

Package Summary

Documented

mrpt_ekf_slam_3d

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_rbpf_slam

Package Summary

Released Continuous integration Documented

This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks.

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_rbpf_slam

Package Summary

Released Continuous integration Documented

This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks.

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_rbpf_slam

Package Summary

Released Continuous integration Documented

This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks.

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_rbpf_slam

Package Summary

Continuous integration Documented

This package is a wrapper for the implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks.

Cannot load information on name: mrpt_ekf_slam_3d, distro: melodic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Description

The sections below describe the API of this package for 3D 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_3d is a wrapper for the C++ class mrpt::slam::CRangeBearingKFSLAM , 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_3d package it is necessary to install the last MRPT build and themrpt_navigation(see also the tutorial) .

Example

The following video represents the EKF 3D SLAM in Rviz and MRPT GUI:

The example of usage EKF 3D SLAM in online regime:

roslaunch mrpt_ekf_slam_3d ekf_slam_3d.launch

The example of usage EKF 3D SLAM from .rawlog file:

roslaunch mrpt_ekf_slam_3d ekf_slam_3d_rawlog.launch

Nodes

mrpt_ekf_slam_3d

The mrpt_ekf_slam_3d 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)
landmark (mrpt_msgs/ObservationRangeBearing)
  • Landmarks to create the map

Published Topics

state_viz (visualization_msgs/MarkerArray)
  • Visualization of the current state of the EKF
data_association_viz (visualization_msgs/MarkerArray)
  • Visualization of the currently observed landmarks by robot

Parameters

~global_frame_id (string, default: "map")
  • the frame attached to the map
~base_frame_id (string, default: "base_link")
  • The frame attached to the mobile base
~odom_frame_id (string, default: "odom")
  • The frame attached to the odometry system
~sensor_source (string, default: "scan")
  • The name of topics with 2d laser scans or beacons (the name of topic should contaion word "scan" or "beacon")
~ini_filename (string, default: None)
  • The path to the ini file with MRPT settings for SLAM (see tutorial folder)
~rawlog_filename (string, default: None)
  • The path to rawlog file(if the rawlog file is not exists the SLAM starts in online regime)
~rawlog_play_delay (float, default: 0.1)
  • Delay for replay SLAM from rawlog file.
~ellipse_scale (float, default: 1)
  • The parameter for rescaling covariance ellipses visualization.

Required tf Transforms

<the frame attached to incoming scans>base_link base_linkodom
  • The robot odometry, provided by the odometry system (e.g., the driver for the mobile base)

Provided tf Transforms

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

Wiki: mrpt_ekf_slam_3d (last edited 2016-08-22 08:50:59 by VladislavTananaev)