diff --git a/.gitignore b/.gitignore index b19899f..1dffd57 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,12 @@ -log +# Build artifacts build -install -src/ground_slam \ No newline at end of file +# Install artifacts +install + +# Log artifacts +log + +# VSCode database +.vscode/browse.vc.db* + diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 9721c09..753ea31 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -11,12 +11,8 @@ "/home/sunrise/yiliao_ws/install/lslidar_msgs/include/**", "/opt/ros/humble/include/**", "/home/sunrise/yiliao_ws/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/**", - "/home/sunrise/yiliao_ws/src/cyy_navigation2/include/**", - "/home/sunrise/yiliao_ws/src/cyy_slamtoolbox/include/**", - "/home/sunrise/yiliao_ws/src/gc_navigation_fish/include/**", - "/home/sunrise/yiliao_ws/src/gc_slam_toolbox_fish/include/**", + "/home/sunrise/yiliao_ws/src/ground_slam/include/**", "/home/sunrise/yiliao_ws/src/origincar_base/include/**", - "/home/sunrise/yiliao_ws/src/zbw_slamtoolbox/include/**", "/usr/include/**" ], "name": "ros2", diff --git a/.vscode/settings.json b/.vscode/settings.json index 6f93542..1124fb9 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,5 +1,7 @@ { - "cmake.ignoreCMakeListsMissing": true, + "yaml.schemas": { + "https://www.schemastore.org/package.json": "file:///home/guoch/test_ws/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml" + }, "ROS2.distro": "humble", "python.autoComplete.extraPaths": [ "/home/sunrise/yiliao_ws/install/origincar_base/local/lib/python3.10/dist-packages", diff --git a/CLAUDE.md b/CLAUDE.md new file mode 100644 index 0000000..eab6c1c --- /dev/null +++ b/CLAUDE.md @@ -0,0 +1,165 @@ +# CLAUDE.md + +## 项目概述 + +这是一个 ROS 2 Humble 工作空间，用于 Ackermann 转向小车的 Gazebo 仿真、SLAM 建图和 Nav2 导航。同时支持实车部署（无 Gazebo）。 + +## 工作空间结构 + +``` +test_ws/ +├── src/ +│ ├── gc_navigation2_slamtoolbox/ # 仿真版：导航+SLAM 启动文件和配置 +│ │ ├── launch/ # Python launch 文件 +│ │ ├── config/ # slam_toolbox 参数 +│ │ ├── params/ # Nav2 参数 +│ │ ├── maps/ # 地图文件 (.pgm, .yaml, .posegraph) +│ │ └── world/ # Gazebo 模型 (zhihui/) +│ ├── gc_navigation2_real/ # 实车版：导航+SLAM 启动文件和配置（无 Gazebo） +│ │ ├── launch/ # Python launch 文件 +│ │ ├── config/ # slam_toolbox 参数（实车调优） +│ │ ├── params/ # Nav2 参数（use_sim_time=false） +│ │ ├── maps/ # 实车地图存放目录 +│ │ └── behavior_tree/ # 阿克曼自定义行为树 +│ ├── origincar_description/ # 机器人 URDF 和 Gazebo world +│ │ ├── urdf/ # origincar.urdf +│ │ ├── world/ # .world 文件 +│ │ ├── meshes/ # 3D 模型 +│ │ ├── launch/ # display.launch.py +│ │ └── rviz/ # RViz 配置 +│ ├── origincar_base/ # 实车底盘驱动（串口通信+EKF+IMU融合） +│ │ ├── src/ # C++ 源码（origincar_base.cpp） +│ │ ├── scripts/ # cmd_vel_to_ackermann_drive.py +│ │ ├── launch/ # origincar_bringup / base_serial / ekf +│ │ └── config/ # ekf.yaml / imu.yaml +│ ├── origincar_msg/ # 自定义 ROS 2 消息 +│ │ └── msg/ # Data.msg / Sign.msg +│ └── LSLIDAR_X_ROS2-20240228/ # 镭神激光雷达 ROS 2 驱动 +│ └── src/ +│ ├── lslidar_driver/ # 雷达驱动核心 +│ └── lslidar_msgs/ # 雷达消息定义 +├── build/ # colcon build 输出 +├── install/ # colcon install 输出 (含符号链接) +└── log/ # 构建日志 +``` + +## 构建命令 + +```bash +cd /home/guoch/test_ws +source /opt/ros/humble/setup.bash +colcon build --symlink-install +source install/setup.bash +``` + +## 常用 Launch 文件 + +### 仿真版 (gc_navigation2_slamtoolbox) + +| 文件 | 功能 | +|------|------| +| `gc_slam_mapping.launch.py` | Gazebo + SLAM 建图模式 | +| `gc_nav2_with_slam_online.launch.py` | 已知地图 + SLAM 在线更新 + Nav2 导航 | +| `gc_nav2_with_slam.launch.py` | 已知地图 + SLAM 定位 + Nav2 导航 | +| `gc_nav2_with_amcl.launch.py` | AMCL 定位 + Nav2 导航 | + +### 实车版 (gc_navigation2_real) + +| 文件 | 功能 | +|------|------| +| `real_bringup.launch.py` | 基础 bringup（底盘驱动+雷达+TF，无导航） | +| `real_slam_mapping.launch.py` | 实车 SLAM 建图模式 | +| `real_nav2_slam.launch.py` | 已知地图 + SLAM 定位 + Nav2 导航 | +| `real_nav2_slam_online.launch.py` | 已知地图 + SLAM 在线更新 + Nav2 导航 | + +## 机器人参数 (origincar) + +- **类型**: Ackermann 转向小车 +- **尺寸**: 0.276 × 0.214 × 0.211 m (长×宽×高) +- **轴距**: 0.143 m（URDF 中前轮 x=0.0715，后轮 x=-0.0715），**轮距**: 0.189 m +- **轮子**: 半径 0.03 m，厚 0.025 m +- **激光雷达**: 360°, 0.12~3.5 m, 5 Hz（仿真）; 镭神 N10 0.15~12m（实车） +- **IMU**: 100 Hz, 含高斯噪声 +- **Gazebo 插件**: `gazebo_ros_ackermann_drive`, `gazebo_ros_ray_sensor`, `gazebo_ros_imu_sensor` + +## 实车 TF 树 + +``` +map ──→ odom_combined ──→ base_footprint ──→ base_link ──→ laser + ↑ ↑ ↑ ↑ +slam_toolbox EKF static TF URDF/static +(定位) (融合odom+IMU) (origincar_bringup) +``` + +- slam_toolbox 发布 `map → odom_combined` +- EKF 发布 `odom_combined → base_footprint` +- origincar_bringup 发布 `base_footprint → base_link`（z=0）、`base_link → laser` +- robot_state_publisher 发布 URDF 各连杆 TF + +### 仿真 vs 实车关键差异 + +| 方面 | 仿真版 | 实车版 | +|------|--------|--------| +| use_sim_time | `true` | `false` | +| odom_frame | `odom` | `odom_combined`（EKF 融合后） | +| 底盘驱动 | Gazebo plugin | origincar_base 串口驱动 | +| 激光雷达 | Gazebo ray plugin | lslidar_driver（镭神 N10） | +| robot_state_publisher | launch 文件内启动 | origincar_bringup 已包含，勿重复启动 | +| joint_state_publisher | launch 文件内启动 | origincar_bringup 已包含，勿重复启动 | + +## 阿克曼底盘模式 + +通过 `akmcar` 参数控制，链路如下： + +``` +origincar_bringup.launch.py + └─ akmcar=LaunchConfiguration('akmcar', default='true') + └─ 传入 base_serial.launch.py + ├─ IfCondition(true) → origincar_base_node (akm_cmd_vel='ackermann_cmd') + │ + cmd_vel_to_ackermann_drive.py (Twist→Ackermann) + └─ UnlessCondition(false) → 差速模式（跳过） +``` + +数据流：`MPPI cmd_vel(Twist) → cmd_vel_to_ackermann_drive.py → ackermann_cmd(AckermannDriveStamped) → STM32` + +关键参数： +- `cmd_vel_to_ackermann_drive.py`: `wheelbase = 0.143`（与 URDF 一致） +- `akmcar=true` 时 STM32 接收 `speed + steering_angle` +- `akmcar=false` 时 STM32 接收 `vx + vy + wz`（固件自行转换） + +## 关键设计 + +1. **map_server** 提供全量静态底图（`/map`） +2. **slam_toolbox** 负责定位和增量建图，重映射 `/map` → `/slam_map` 避免冲突 +3. **Nav2** 使用 `global_costmap/static_layer ← /map` + `local_costmap/obstacle_layer ← /scan` +4. 保存地图: `ros2 service call /slam_toolbox/serialize_map ...` +5. 实车版 launch 文件**不应**自行启动 `robot_state_publisher` 和 `joint_state_publisher`，`origincar_bringup` 已包含 + +## 地图文件 + +地图放在 `src/gc_navigation2_slamtoolbox/maps/`（仿真）和 `src/gc_navigation2_real/maps/`（实车），包含: +- `xxx.pgm` — 地图图像 +- `xxx.yaml` — 地图元数据 (resolution, origin, thresholds) +- `xxx.posegraph` — 序列化的位姿图 + +## Gazebo World + +World 文件在 `src/origincar_description/world/`: +- `zhihui.world` — 智慧楼墙体环境（内联模型） +- `test.world` — 测试环境 +- `fishbot.world` / `gc_world.world` — 其他场景 + +## 实车底盘驱动包 (origincar_base) + +- `origincar_base_node`（C++）: 串口读写（/dev/ttyACM0, 115200bps）、航迹推算、四元数姿态解算（Mahony AHRS） +- `cmd_vel_to_ackermann_drive.py`（Python）: Twist → AckermannDriveStamped 转换，wheelbase=0.143 +- 帧协议: 24 字节收（帧头0x7B/帧尾0x7D）/ 11 字节发 +- EKF 融合: `/odom` + IMU → `/odom_combined`，`two_d_mode=true` + +## 注意事项 + +- 使用 `--symlink-install` 构建，Python launch 文件修改后无需重新编译 +- `.world` 文件不应使用 `model://` 外部引用，应将模型内联定义 +- `robot_base_frame` 在 ackermann plugin 中应设为 `base_footprint` +- 实车 `gc_navigation2_real` 的 launch 文件调用 `origincar_bringup.launch.py` 时，不再重复启动 `robot_state_publisher` 和 `joint_state_publisher` +- 轴距参数在三处需保持一致：URDF（0.143m）、`cmd_vel_to_ackermann_drive.py`（0.143m）、Nav2 planner `minimum_turning_radius`（0.40m） diff --git a/README.md b/README.md index 73a4318..05c0b08 100644 --- a/README.md +++ b/README.md @@ -82,7 +82,21 @@ ---

+<<<<<<< HEAD # 三、其它说明 +======= + +# 三、指令 +启动雷达： +`ros2 launch lslidar_driver lsn10_launch.py ` +open new terminal +```bash +ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 1\ # (open radar) +ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 0\ # (close radar) +``` + +# 四、其它说明 +>>>>>>> mo_new 我设置了一些自定义指令，方便终端调试： ```bash rosbuild # 编译指定包 @@ -90,3 +104,7 @@ build_debug # 以调试模式编译指定包 foxglove # 启动foxbridge ``` +<<<<<<< HEAD +======= +# 五、日志 +>>>>>>> mo_new diff --git a/src/gc_navigation2_real/CMakeLists.txt b/src/gc_navigation2_real/CMakeLists.txt new file mode 100644 index 0000000..8a939d4 --- /dev/null +++ b/src/gc_navigation2_real/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.8) +project(gc_navigation2_real) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch config params maps behavior_tree + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml b/src/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml new file mode 100644 index 0000000..c3343f7 --- /dev/null +++ b/src/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/gc_navigation2_real/config/slam_toolbox_async_real.yaml b/src/gc_navigation2_real/config/slam_toolbox_async_real.yaml new file mode 100644 index 0000000..85b0e2a --- /dev/null +++ b/src/gc_navigation2_real/config/slam_toolbox_async_real.yaml @@ -0,0 +1,78 @@ +slam_toolbox: + ros__parameters: + + # ============================ Solver 插件参数 ====================================== + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ============================ ROS 基础参数（实车）=================================== + odom_frame: odom_combined # 实车：EKF 融合后的里程计坐标系 + map_frame: map # 地图坐标系 + base_frame: base_footprint # 机器人基座坐标系（与 URDF 根帧一致） + scan_topic: /scan # 激光雷达话题（实车镭神雷达） + use_map_saver: true # 启用地图保存功能 + mode: mapping # mapping = 定位 + 实时建图 + + # ============================ 已有地图加载 ========================================== + # map_file_name: "" # 从零开始建图，留空 + map_start_pose: [0.0, 0.0, 0.0] # 初始位姿 [x, y, yaw] + + # ============================ 调试与性能 =========================================== + debug_logging: false + throttle_scans: 1 # 每 N 帧处理一次（实车每秒10帧左右） + transform_publish_period: 0.02 # TF 发布周期（秒） + map_update_interval: 3.0 # /map 话题更新间隔（秒） + resolution: 0.05 # 地图分辨率（米/像素） + restamp_tf: false + min_laser_range: 0.15 # 实车雷达盲区约 0.12m，设 0.15 过滤近处噪点 + max_laser_range: 12.0 # 实车雷达最大有效距离（镭神 N10 ≈ 10-15m） + minimum_time_interval: 0.3 # 最小处理时间间隔（实车可适当放宽） + transform_timeout: 0.2 # TF 查找超时 + tf_buffer_duration: 30.0 # TF 缓冲区时长 + stack_size_to_use: 40000000 # 栈大小（序列化大地图需要） + enable_interactive_mode: true # 交互模式：允许外部工具编辑地图 + + # ============================ 通用建图参数 ========================================= + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.3 # 实车最小移动距离（米），小于仿真以更频繁更新 + minimum_travel_heading: 0.3 # 最小转向角度（弧度） + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 # 扫描缓冲区大小 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + + # ============================ 回环检测参数 ========================================= + do_loop_closing: true # 启用回环检测 + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + loop_search_maximum_distance: 3.0 + + # ============================ 相关性匹配参数 ======================================= + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # ============================ 扫描匹配器参数 ======================================== + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml b/src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml new file mode 100644 index 0000000..7466496 --- /dev/null +++ b/src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml @@ -0,0 +1,77 @@ +slam_toolbox: + ros__parameters: + + # ============================ Solver 插件参数 ====================================== + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ============================ ROS 基础参数（实车定位模式）============================ + odom_frame: odom_combined # 实车：EKF 融合后的里程计坐标系 + map_frame: map + base_frame: base_footprint + scan_topic: /scan + mode: localization # 纯定位模式，不更新地图 + + # ============================ 已有地图加载 ========================================== + # 由 launch 文件通过 map_file_name 参数传入 .posegraph 路径 + # map_file_name: "" + map_start_pose: [0.0, 0.0, 0.0] + + # ============================ 调试与性能 =========================================== + debug_logging: false + throttle_scans: 2 # 每2帧处理一次（实车激光较慢时使用） + transform_publish_period: 0.02 + map_update_interval: 5.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.15 # 过滤雷达盲区噪点 + max_laser_range: 12.0 # 实车雷达最大有效距离 + minimum_time_interval: 0.3 + transform_timeout: 0.2 + tf_buffer_duration: 30.0 + stack_size_to_use: 40000000 + + # ============================ 通用参数 ============================================= + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.3 + minimum_travel_heading: 0.3 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + + # 定位模式关闭回环检测 + do_loop_closing: false + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + loop_search_maximum_distance: 3.0 + + # ============================ 相关性匹配参数 ======================================= + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # ============================ 扫描匹配器参数 ======================================== + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_real/launch/real_bringup.launch.py b/src/gc_navigation2_real/launch/real_bringup.launch.py new file mode 100644 index 0000000..096a166 --- /dev/null +++ b/src/gc_navigation2_real/launch/real_bringup.launch.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 +# ============================================================================ +# real_bringup.launch.py +# 功能：实车基础 bringup — 底盘驱动 + 激光雷达 + TF 树 +# +# 适用场景： +# - 单独调试底盘通信和传感器数据 +# - 遥控测试（无导航） +# - 作为其他 launch 文件的基础模块 +# +# 启动内容： +# origincar_base bringup — 串口驱动 + EKF + IMU 滤波 + TF + robot_state_publisher +# lslidar_driver — 镭神激光雷达 → /scan +# +# 使用方式： +# ros2 launch gc_navigation2_real real_bringup.launch.py +# ============================================================================ + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + """生成 LaunchDescription，启动实车底盘 + 雷达 + TF（无导航）""" + + # ============================ 1. 包路径 ========================================= + origincar_base_dir = get_package_share_directory('origincar_base') + + # ============================ 2. 实车底盘 bringup =============================== + # 注：origincar_bringup 已包含 robot_state_publisher + joint_state_publisher + 静态 TF + origincar_bringup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']), + ) + + # ============================ 3. 镭神激光雷达驱动 =============================== + lslidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [get_package_share_directory('lslidar_driver'), + '/launch', '/lsn10_launch.py']), + ) + + # ============================ 4. 组装 LaunchDescription ========================= + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='使用仿真时间（实车必须为 false）'), + + origincar_bringup, + lslidar_launch, + ]) diff --git a/src/gc_navigation2_real/launch/real_nav2_slam.launch.py b/src/gc_navigation2_real/launch/real_nav2_slam.launch.py new file mode 100644 index 0000000..c9cf7ab --- /dev/null +++ b/src/gc_navigation2_real/launch/real_nav2_slam.launch.py @@ -0,0 +1,110 @@ +#!/usr/bin/env python3 +# ============================================================================ +# real_nav2_slam.launch.py +# 功能：实车导航 — 已知静态地图 + SLAM 定位 + Nav2 导航 +# +# 架构： +# origincar_base (bringup) — 底盘串口驱动 + EKF 里程计 + IMU 滤波 + TF +# lslidar_driver — 镭神激光雷达驱动 → /scan +# map_server — 加载 yaml+pgm 全量静态地图 → /map +# slam_toolbox (localization) — 加载 .posegraph，激光扫描匹配定位 +# 发布 map→odom_combined TF（替代 AMCL） +# ⚠️ /map 话题重映射为 /slam_map，避免冲突 +# navigation_launch — Nav2 导航栈 +# global_costmap 从 /map 获取全量静态地图 +# +# 使用方式： +# ros2 launch gc_navigation2_real real_nav2_slam.launch.py +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + """生成 LaunchDescription，启动实车底盘 + 雷达 + SLAM定位 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1. 包路径=========================================== + pkg_dir = get_package_share_directory('gc_navigation2_real') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_base_dir = get_package_share_directory('origincar_base') + + # =============================2. 参数============================================= + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + map_yaml_path = LaunchConfiguration('map', default=os.path.join( + pkg_dir, 'maps', 'my_map.yaml')) + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam_real.yaml')) + slam_params_file = os.path.join( + pkg_dir, 'config', 'slam_toolbox_localization_real.yaml') + posegraph_path = os.path.join( + pkg_dir, 'maps', 'my_map.posegraph') + + # =============================3. 实车底盘 bringup ================================ + origincar_bringup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']), + ) + + # =============================4. 镭神激光雷达驱动 ================================ + lslidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [get_package_share_directory('lslidar_driver'), + '/launch', '/lsn10_launch.py']), + ) + + # =============================5. map_server：全量静态地图 ========================== + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': map_yaml_path, 'use_sim_time': False}], + ) + map_server_lifecycle = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_map', + output='screen', + parameters=[{'use_sim_time': False, 'autostart': True, + 'node_names': ['map_server']}], + ) + + # =============================6. slam_toolbox 定位模式（替代 AMCL）================== + # ⚠️ /map 重映射到 /slam_map，避免覆盖 map_server 的全量地图 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='localization_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, + {'use_sim_time': False, + 'map_file_name': posegraph_path}], + remappings=[('/map', '/slam_map')], + ) + + # =============================7. Nav2 导航栈 ===================================== + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + }.items(), + ) + + # =============================8. 组装============================================= + ld.add_action(origincar_bringup) + ld.add_action(lslidar_launch) + ld.add_action(map_server_node) + ld.add_action(map_server_lifecycle) + ld.add_action(slam_toolbox_node) + ld.add_action(navigation_launch) + + return ld diff --git a/src/gc_navigation2_real/launch/real_nav2_slam_online.launch.py b/src/gc_navigation2_real/launch/real_nav2_slam_online.launch.py new file mode 100644 index 0000000..248d160 --- /dev/null +++ b/src/gc_navigation2_real/launch/real_nav2_slam_online.launch.py @@ -0,0 +1,135 @@ +#!/usr/bin/env python3 +# ============================================================================ +# real_nav2_slam_online.launch.py +# 功能：实车导航 — 已知全局地图 + SLAM 在线更新 + Nav2 导航 +# +# 架构： +# ┌─ /map（全量静态地图） +# map_server ──────────┤ +# └─ 来自 my_map.yaml + my_map.pgm +# +# ┌─ map→odom_combined TF（激光扫描匹配定位） +# slam_toolbox ────────┤ +# (async mapping) └─ /slam_map（实时建图结果，重映射避免冲突） +# +# navigation ┌─ global_costmap/static_layer ← /map（全量地图） +# ├─ local_costmap/obstacle_layer ← /scan（实时避障） +# └─ planner + controller + behavior +# +# 关键设计： +# 1. map_server 提供全量静态底图 → Foxglove 中看到完整房间布局 +# 2. slam_toolbox 定位 + 实时建图，/slam_map 可单独查看更新效果 +# 3. 实时避障通过 costmap 的 obstacle_layer 实现（不依赖地图更新） +# 4. 定期调用 /slam_toolbox/serialize_map 保存更新后的地图 +# +# 与仿真版的区别： +# - 无 Gazebo，无 spawn_entity +# - 使用 origincar_base bringup（串口驱动 + EKF + IMU） +# - 使用 lslidar_driver（镭神实车雷达） +# - use_sim_time: False +# - TF 帧适配实车（odom_combined, base_footprint） +# +# 使用方式： +# ros2 launch gc_navigation2_real real_nav2_slam_online.launch.py +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import ExecuteProcess + + +def generate_launch_description(): + """启动实车底盘 + 雷达 + 静态地图 + SLAM 在线定位建图 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1. 包路径=========================================== + pkg_dir = get_package_share_directory('gc_navigation2_real') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_base_dir = get_package_share_directory('origincar_base') + + # =============================2. 参数============================================= + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + map_yaml_path = os.path.join(pkg_dir, 'maps', 'my_map.yaml') + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam_real.yaml')) + slam_params_file = os.path.join(pkg_dir, 'config', 'slam_toolbox_async_real.yaml') + posegraph_path = os.path.join(pkg_dir, 'maps', 'my_map.posegraph') + + # =============================3. 实车底盘 bringup ================================ + origincar_bringup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']), + ) + + # =============================4. 镭神激光雷达驱动 ================================ + lslidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [get_package_share_directory('lslidar_driver'), + '/launch', '/lsn10_launch.py']), + ) + + # =============================5. map_server：全量静态地图 ========================== + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': map_yaml_path, 'use_sim_time': False}], + ) + map_server_lifecycle = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_map', + output='screen', + parameters=[{'use_sim_time': False, 'autostart': True, + 'node_names': ['map_server']}], + ) + + # =============================6. slam_toolbox：定位 + 实时建图======================== + # ⚠️ /map 重映射到 /slam_map，避免覆盖 map_server 的全量地图 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, {'use_sim_time': False}], + remappings=[('/map', '/slam_map')], + ) + + # =============================7. 加载已有序列化地图 ================================= + load_map_cmd = ExecuteProcess( + cmd=[ + 'bash', '-c', + 'sleep 8 && ' + 'ros2 service call /slam_toolbox/deserialize_map ' + 'slam_toolbox/srv/DeserializePoseGraph ' + "'{filename: \"%s\", match_type: 1}'" % posegraph_path, + ], + output='screen', + ) + + # =============================8. Nav2 导航栈 ===================================== + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + }.items(), + ) + + # =============================9. 组装============================================ + ld.add_action(origincar_bringup) + ld.add_action(lslidar_launch) + ld.add_action(map_server_node) + ld.add_action(map_server_lifecycle) + ld.add_action(slam_toolbox_node) + ld.add_action(load_map_cmd) + ld.add_action(navigation_launch) + + return ld diff --git a/src/gc_navigation2_real/launch/real_slam_mapping.launch.py b/src/gc_navigation2_real/launch/real_slam_mapping.launch.py new file mode 100644 index 0000000..f957e03 --- /dev/null +++ b/src/gc_navigation2_real/launch/real_slam_mapping.launch.py @@ -0,0 +1,103 @@ +#!/usr/bin/env python3 +# ============================================================================ +# real_slam_mapping.launch.py +# 功能：实车 SLAM 建图启动文件（无 Gazebo 仿真） +# +# 适用场景： +# - 在实际场地遥控机器人建立环境地图 +# - 在已有地图基础上增量更新 +# - 单独调试 slam_toolbox 建图参数 +# +# 架构： +# origincar_base (bringup) — 底盘串口驱动 + EKF 里程计 + IMU 滤波 + TF +# lslidar_driver — 镭神激光雷达驱动 → /scan +# async_slam_toolbox_node — 激光 SLAM 建图（mapping 模式） +# 发布 map→odom_combined TF +# 发布 /map 话题（实时地图） +# +# 使用方式： +# ros2 launch gc_navigation2_real real_slam_mapping.launch.py +# +# 保存地图： +# ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph \ +# "{filename: '/home/guoch/test_ws/src/gc_navigation2_real/maps/my_map'}" +# ros2 run nav2_map_server map_saver_cli -f +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + """生成 LaunchDescription，启动实车底盘 + 雷达 + slam_toolbox 建图""" + + # ============================ 1. 包路径 ========================================= + pkg_dir = get_package_share_directory('gc_navigation2_real') + origincar_base_dir = get_package_share_directory('origincar_base') + + # ============================ 2. 声明启动参数 ==================================== + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + + # slam_params_file: slam_toolbox 配置文件 + slam_params_file = LaunchConfiguration( + 'slam_params_file', + default=os.path.join(pkg_dir, 'config', 'slam_toolbox_async_real.yaml')) + + # map_file_name: 可选，加载已有序列化地图继续建图 + map_file_name = LaunchConfiguration('map_file_name', default='') + + # ============================ 3. 实车底盘 bringup =============================== + # 启动 origincar_base：串口驱动 + EKF + IMU 滤波 + TF 发布 + # 注：origincar_bringup 已包含 robot_state_publisher + joint_state_publisher + 静态 TF + origincar_bringup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']), + ) + + # ============================ 4. 镭神激光雷达驱动 =============================== + # 启动 lslidar_driver → /scan 话题 + lslidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [get_package_share_directory('lslidar_driver'), + '/launch', '/lsn10_launch.py']), + ) + + # ============================ 5. slam_toolbox 建图节点 ============================ + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[ + slam_params_file, + { + 'use_sim_time': False, + 'map_file_name': map_file_name, + }, + ], + ) + + # ============================ 6. 组装 LaunchDescription ========================= + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='使用仿真时间（实车必须为 false）'), + DeclareLaunchArgument( + 'slam_params_file', + default_value=os.path.join(pkg_dir, 'config', 'slam_toolbox_async_real.yaml'), + description='slam_toolbox 参数配置文件路径'), + DeclareLaunchArgument( + 'map_file_name', + default_value='', + description='已有序列化地图路径（.posegraph），留空则从零开始建图'), + + origincar_bringup, + lslidar_launch, + slam_toolbox_node, + ]) diff --git a/src/gc_navigation2_real/maps/Readme.txt b/src/gc_navigation2_real/maps/Readme.txt new file mode 100644 index 0000000..75b15b6 --- /dev/null +++ b/src/gc_navigation2_real/maps/Readme.txt @@ -0,0 +1,3 @@ +# 实车地图存放目录 +# 使用 map_saver_cli 保存地图到此目录： +# ros2 run nav2_map_server map_saver_cli -f ~/test_ws/src/gc_navigation2_real/maps/your_map_name diff --git a/src/gc_navigation2_real/package.xml b/src/gc_navigation2_real/package.xml new file mode 100644 index 0000000..bbc6199 --- /dev/null +++ b/src/gc_navigation2_real/package.xml @@ -0,0 +1,31 @@ + + + + gc_navigation2_real + 0.0.0 + Real-world navigation package: SLAM + Nav2 for OriginCar on physical robot (no Gazebo) + guoch + TODO: License declaration + + ament_cmake + + rclcpp + slam_toolbox + nav2_bringup + origincar_base + origincar_description + origincar_msg + robot_state_publisher + joint_state_publisher + robot_localization + imu_filter_madgwick + tf2_ros + lslidar_driver + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/gc_navigation2_real/params/gc_navigation_slam_real.yaml b/src/gc_navigation2_real/params/gc_navigation_slam_real.yaml new file mode 100644 index 0000000..02e1ea1 --- /dev/null +++ b/src/gc_navigation2_real/params/gc_navigation_slam_real.yaml @@ -0,0 +1,353 @@ +# ============================================================================ +# gc_navigation_slam_real.yaml +# 实车 Nav2 导航参数（SLAM 定位方案，无 AMCL） +# +# 与仿真版的区别： +# - use_sim_time: False（使用系统时钟） +# - TF 帧适配实车（odom_combined, base_footprint） +# - 速度/加速度参数适当降低以保证实车安全 +# - 激光雷达参数匹配镭神 N10 实车性能 +# ============================================================================ + +slam_toolbox: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom_combined + bt_loop_duration: 50 + default_server_timeout: 20 + # 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待 + default_nav_to_pose_bt_xml: /home/guoch/test_ws/install/gc_navigation2_real/share/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: False + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 20.0 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 36 + model_dt: 0.05 + batch_size: 1000 + vx_std: 0.2 + vy_std: 0.0 + wz_std: 0.4 + vx_max: 0.5 # 第一阶段提速：0.4→0.5（仿真已验证安全） + vx_min: -0.30 # 第一阶段提速：-0.25→-0.30 + vy_max: 0.0 + wz_max: 1.5 # 实车最大角速度降低 + iteration_count: 1 + temperature: 0.3 + gamma: 0.015 + motion_model: "Ackermann" + visualize: false + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.4 + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + forward_preference: true + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + transform_tolerance: 0.5 + global_frame: odom_combined # 实车：EKF 融合后的里程计坐标系 + robot_base_frame: base_footprint # 实车：URDF 根帧 + use_sim_time: False + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: False + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: False + transform_tolerance: 0.5 + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_footprint # 实车：与 URDF 根帧一致 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: False + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + planner_plugins: ["GridBased"] + use_sim_time: False + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false + downsampling_factor: 1 + tolerance: 0.25 + allow_unknown: true + max_iterations: 1000000 + max_on_approach_iterations: 1000 + max_planning_time: 5.0 + motion_model_for_search: "REEDS_SHEPP" + angle_quantization_bins: 72 + analytic_expansion_ratio: 3.5 + analytic_expansion_max_length: 3.0 + minimum_turning_radius: 0.40 + reverse_penalty: 1.3 + change_penalty: 0.0 + non_straight_penalty: 1.2 + cost_penalty: 2.0 + retrospective_penalty: 0.015 + lookup_table_size: 20.0 + cache_obstacle_heuristic: false + viz_expansions: false + smooth_path: True + + smoother: + max_iterations: 1000 + w_smooth: 0.3 + w_data: 0.2 + tolerance: 1.0e-10 + do_refinement: true + refinement_num: 2 + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +smoother_server: + ros__parameters: + use_sim_time: False + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + backup_dist: 0.8 + backup_speed: 0.18 + wait: + plugin: "nav2_behaviors/Wait" + wait_duration: 0.5 + global_frame: odom_combined # 实车：EKF 融合后的里程计坐标系 + robot_base_frame: base_footprint # 实车：URDF 根帧 + transform_tolerance: 0.5 + use_sim_time: False + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: False + +waypoint_follower: + ros__parameters: + loop_rate: 20 + use_sim_time: False + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/src/gc_navigation2_slamtoolbox/CMakeLists.txt b/src/gc_navigation2_slamtoolbox/CMakeLists.txt new file mode 100644 index 0000000..25a809b --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.8) +project(gc_navigation2_slamtoolbox) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) +# 查找slam_toolbox包 +find_package(slam_toolbox REQUIRED) +install( + DIRECTORY launch config params maps world + DESTINATION share/${PROJECT_NAME} +) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml new file mode 100644 index 0000000..fd1088a --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml @@ -0,0 +1,89 @@ + +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + use_map_saver: true + mode: mapping + + # lifelong params + lifelong_search_use_tree: false + lifelong_minimum_score: 0.1 + lifelong_iou_match: 0.85 + lifelong_node_removal_score: 0.04 + lifelong_overlap_score_scale: 0.06 + lifelong_constraint_multiplier: 0.08 + lifelong_nearby_penalty: 0.001 + lifelong_candidates_scale: 0.03 + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + #map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 10. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml new file mode 100644 index 0000000..b6356ef --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml @@ -0,0 +1,72 @@ +slam_toolbox: + ros__parameters: + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: localization #localization + + # if you'd like to start localizing on bringup in a map and pose + map_file_name: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph + map_start_pose: [0.0, 0.0, 0.0] + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 3 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + do_loop_closing: true + loop_match_minimum_chain_size: 3 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + loop_search_maximum_distance: 3.0 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml new file mode 100644 index 0000000..4d9dba2 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml @@ -0,0 +1,71 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + use_map_saver: true + mode: mapping #localization + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 10.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 14400. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml new file mode 100644 index 0000000..9b8e220 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml @@ -0,0 +1,74 @@ +$(var namespace)/slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: global_odom + map_frame: map + base_frame: base_footprint + scan_topic: scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30.0 + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml new file mode 100644 index 0000000..73a4ac7 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml @@ -0,0 +1,79 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + use_map_saver: true + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + #map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml b/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml new file mode 100644 index 0000000..5b2cc52 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml new file mode 100644 index 0000000..d0b1e16 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml @@ -0,0 +1,82 @@ +slam_toolbox: + ros__parameters: + + # ============================ Solver 插件参数 ====================================== + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ============================ ROS 基础参数 ========================================= + odom_frame: odom # 里程计坐标系 + map_frame: map # 地图坐标系 + base_frame: base_link # 机器人基座坐标系（与 URDF 根帧一致） + scan_topic: /scan # 激光雷达话题 + use_map_saver: true # 启用地图保存功能 + mode: mapping # mapping = 定位 + 实时建图（地图可更新） + + # ============================ 已有地图加载（在其基础上继续更新）========================== + # 启动时暂不加载（注释掉），通过服务在启动后手动加载： + # ros2 service call /slam_toolbox/deserialize_map slam_toolbox/srv/DeserializePoseGraph "{filename: '/home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph', match_type: 1}" + # map_file_name: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph + map_start_pose: [-2.0, -2.0, 0.0] # 初始位姿 [x, y, yaw]（map 坐标系下） + # map_start_at_dock: true # 或从 docking 位姿启动（与 pose 互斥） + + # ============================ 调试与性能 =========================================== + debug_logging: false # 调试日志（生产环境关闭） + throttle_scans: 10 # 每 N 帧激光处理一次（1=全部处理） + transform_publish_period: 0.02 # TF 发布周期（秒），0=不发布里程计 + map_update_interval: 3.0 # /map 话题更新间隔（秒），越小越实时 + resolution: 0.05 # 地图分辨率（米/像素） + restamp_tf: false # 是否重新打时间戳 + min_laser_range: 0.0 # 激光最小有效距离（米） + max_laser_range: 20.0 # 激光最大有效距离（米） + minimum_time_interval: 0.5 # 最小处理时间间隔（秒） + transform_timeout: 0.2 # TF 查找超时（秒） + tf_buffer_duration: 30.0 # TF 缓冲区时长（秒） + stack_size_to_use: 40000000 # 栈大小（序列化大地图需要） + enable_interactive_mode: true # 交互模式：允许外部工具编辑地图 + + # ============================ 通用建图参数 ========================================= + use_scan_matching: true # 启用扫描匹配 + use_scan_barycenter: true # 使用扫描重心 + minimum_travel_distance: 0.1 # 最小移动距离触发处理（米） + minimum_travel_heading: 0.1 # 最小转向角度触发处理（弧度） + check_min_dist_and_heading_precisely: false + scan_buffer_size: 5 # 扫描缓冲区大小（越大匹配越稳定） + scan_buffer_maximum_scan_distance: 5.0 # 缓冲区最大扫描距离 + link_match_minimum_response_fine: 0.1 # 精细匹配最小响应 + link_scan_maximum_distance: 1.5 # 链接扫描最大距离 + + # ============================ 回环检测参数 ========================================= + do_loop_closing: true # 启用回环检测（消除累积误差） + loop_match_minimum_chain_size: 10 # 最小回环链大小 + loop_match_maximum_variance_coarse: 3.0 # 粗匹配最大方差 + loop_match_minimum_response_coarse: 0.35 # 粗匹配最小响应 + loop_match_minimum_response_fine: 0.45 # 精细匹配最小响应 + loop_search_maximum_distance: 3.0 # 回环搜索最大距离 + + # ============================ 相关性匹配 - 扫描匹配参数 ============================== + correlation_search_space_dimension: 0.5 # 搜索空间维度 + correlation_search_space_resolution: 0.01 # 搜索空间分辨率 + correlation_search_space_smear_deviation: 0.1 # 搜索空间平滑偏差 + + # ============================ 相关性匹配 - 回环检测参数 ============================== + loop_search_space_dimension: 8.0 # 回环搜索空间维度 + loop_search_space_resolution: 0.05 # 回环搜索分辨率 + loop_search_space_smear_deviation: 0.03 # 回环搜索平滑偏差 + + # ============================ 扫描匹配器参数 ======================================== + distance_variance_penalty: 0.5 # 距离方差惩罚 + angle_variance_penalty: 1.0 # 角度方差惩罚 + + fine_search_angle_offset: 0.00349 # 精细搜索角度偏移 + coarse_search_angle_offset: 0.349 # 粗搜索角度偏移 + coarse_angle_resolution: 0.0349 # 粗搜索角度分辨率 + minimum_angle_penalty: 0.9 # 最小角度惩罚 + minimum_distance_penalty: 0.5 # 最小距离惩罚 + use_response_expansion: true # 使用响应扩展 + min_pass_through: 2 # 最小通过次数 + occupancy_threshold: 0.1 # 占据阈值 diff --git a/src/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml new file mode 100644 index 0000000..56ef629 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml @@ -0,0 +1,55 @@ +slam_toolbox: + ros__parameters: + # 核心模式设置 + use_sim_time: true + mode: "localization" # 重要：设置为定位模式 + map_file_name: "" # 由启动参数传入 + map_start_pose: [0.0,0.0,0.0] + # ROS框架设置 + odom_frame: "odom" + map_frame: "map" + base_frame: "base_footprint" + scan_topic: "/scan" + + # 求解器设置 + solver_plugin: "solver_plugins::CeresSolver" + ceres_linear_solver: "SPARSE_NORMAL_CHOLESKY" + ceres_preconditioner: "SCHUR_JACOBI" + ceres_trust_strategy: "LEVENBERG_MARQUARDT" + ceres_dogleg_type: "TRADITIONAL_DOGLEG" + ceres_loss_function: "None" + + # 定位优化参数 + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.05 + minimum_travel_heading: 0.087 + + # 扫描处理 + scan_buffer_size: 50 + throttle_scans: 2 + + # 回环检测（定位模式可关闭） + do_loop_closing: false + + # 搜索参数 + link_match_minimum_response_fine: 0.2 + link_scan_maximum_distance: 2.0 + loop_search_maximum_distance: 5.0 + + # 性能参数 + minimum_time_interval: 0.1 + transform_publish_period: 0.02 + map_update_interval: 0.5 + + # 地图参数 + resolution: 0.05 + max_laser_range: 15.0 + min_laser_range: 0.2 + + # 初始位姿（可选，可以通过RViz设置） + # map_start_pose: [0.0, 0.0, 0.0] + + # 调试 + debug_logging: false + enable_interactive_mode: true \ No newline at end of file diff --git a/src/gc_navigation2_slamtoolbox/config/slam_toolbox_mapping.yaml b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_mapping.yaml new file mode 100644 index 0000000..44a3d68 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_mapping.yaml @@ -0,0 +1,73 @@ +slam_toolbox: + ros__parameters: + + # === Solver === + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # === ROS 基础 === + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: mapping + use_map_saver: true + + # === 调试与性能 === + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 + map_update_interval: 3.0 + resolution: 0.05 + min_laser_range: 0.15 + max_laser_range: 20.0 + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30.0 + stack_size_to_use: 40000000 + enable_interactive_mode: true + + # === 建图参数 === + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.1 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + + # === 回环检测 === + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + loop_search_maximum_distance: 3.0 + + # === 扫描匹配 === + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # === 匹配器参数 === + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 + + # MessageFilter queue size (default 1, too small for high-rate lidar) + scan_queue_size: 20 diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py new file mode 100644 index 0000000..a20c1b7 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py @@ -0,0 +1,156 @@ +# ============================================================================ +# gc_nav2_with_amcl.launch.py +# 功能：基于 AMCL（自适应蒙特卡洛定位）的导航启动文件 +# +# 架构： +# Gazebo 仿真环境 +# ├── robot_state_publisher — 发布机器人 TF 树（URDF 模型） +# └── nav2_bringup_launch — Nav2 一体化启动（包含以下子模块）： +# ├── map_server — 加载 my_map.yaml,发布全量静态地图到 /map +# ├── AMCL — 粒子滤波定位,发布 map→odom TF +# │ 需要手动设置 /initialpose 初始位姿 +# ├── planner_server — 全局/局部路径规划器（SmacHybrid） +# ├── controller_server — 路径跟踪控制器（MPPI Ackermann） +# ├── behavior_server — 恢复行为服务器（spin/backup/wait） +# └── bt_navigator — 行为树导航编排器 +# +# 与 SLAM 定位方案的区别： +# AMCL： 粒子滤波定位,需要手动设置初始位姿,地图固定不更新 +# SLAM定位： 激光扫描匹配定位,自动定位,可加载 .posegraph 序列化地图 +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import Command +from launch.actions import ExecuteProcess + + +def generate_launch_description(): + """生成 LaunchDescription,启动 Gazebo + AMCL定位 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1.定位到包的地址============================================================= + # 通过 ament_index 获取各功能包的安装路径 + gc_navigation_fish_dir = get_package_share_directory( + 'gc_navigation2_slamtoolbox') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_urdf_dir = get_package_share_directory( + 'origincar_description') + + # =============================2.声明参数,获取配置文件路径=================================================== + # use_sim_time: 仿真时间开关。Gazebo 下必须为 True, + # 因为仿真环境通过 /clock 话题提供时间,而非系统时间 + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + # map_yaml_path: 全量静态地图 yaml 文件路径 + # 传给 bringup_launch → map_server 加载并发布到 /map + map_yaml_path = LaunchConfiguration('map', default=os.path.join( + gc_navigation_fish_dir, 'maps', 'my_map.yaml')) + + # nav2_param_path: Nav2 导航栈参数文件（含 AMCL 粒子滤波配置） + # 注意：此处用 gc_navigation_amcl.yaml,包含 AMCL 参数（粒子数、运动模型等） + # SLAM 方案则用 gc_navigation_slam.yaml（不含 AMCL） + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + gc_navigation_fish_dir, 'params', 'gc_navigation_amcl.yaml')) + + # =============================3.声明启动launch文件========================================================== + # bringup_launch.py 是 Nav2 的一体化启动入口,内部自动处理： + # 1. 声明所有 launch 参数（map, slam, use_sim_time, params_file 等） + # 2. 根据 slam 参数决定启动模式： + # slam=False（默认）→ localization_launch（map_server + AMCL） + # slam=True → slam_launch（slam_toolbox 在线建图） + # 3. 启动 navigation_launch（planner + controller + behavior + bt_navigator） + # 4. 通过 RewrittenYaml 实现参数文件中的变量替换 + # + # 传入参数： + # map: 地图 yaml 文件路径（map_server 加载,AMCL 定位） + # use_sim_time: 仿真时间模式（Gazebo 下必须为 true） + # params_file: Nav2 全部节点的参数配置 + nav2_bringup_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/bringup_launch.py']), + launch_arguments={ + 'map': map_yaml_path, + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path}.items(), + ) + + # =============================4.Gazebo仿真设置========================================================== + # robot_name_in_model: Gazebo 中机器人的模型名称,需与 URDF 中一致 + robot_name_in_model = 'mycar' + + # default_model_path: 机器人 URDF 模型文件路径 + # 使用 xacro 宏展开生成最终的 URDF + default_model_path = os.path.join( + origincar_urdf_dir, "urdf", "origincar.urdf") + + # 声明 model 启动参数,支持命令行覆盖：ros2 launch ... model:=/path/to/custom.urdf + model = DeclareLaunchArgument( + name="model", default_value=default_model_path) + + # Gazebo 仿真世界文件路径 + gazebo_world_path = os.path.join(origincar_urdf_dir, 'world/test.world') + + # 启动 Gazebo 仿真器进程 + # --verbose: 输出详细日志 + # -s libgazebo_ros_init.so: 加载 ROS ↔ Gazebo 通信初始化插件 + # -s libgazebo_ros_factory.so: 加载模型生成（spawn_entity）插件 + start_gazebo_cmd = ExecuteProcess( + cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', + '-s', 'libgazebo_ros_factory.so', gazebo_world_path], + output='screen') + + # 在 Gazebo 世界中生成机器人模型 + # -entity: 模型在 Gazebo 中的实例名（mycar） + # -file: 要加载的 URDF 模型文件 + # 生成后 Gazebo 会为模型创建对应的关节状态话题等 + spawn_entity_cmd = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=['-entity', robot_name_in_model, + '-file', default_model_path], + output='screen' + ) + + # robot_description: 将 XACRO/URDF 模型字符串设为 ROS 参数 + # robot_state_publisher 读取此参数发布各连杆的 TF 坐标变换 + robot_description = ParameterValue( + Command(["xacro ", LaunchConfiguration("model")]), value_type=str) + + # robot_state_publisher: 发布机器人各关节、连杆的 TF 变换 + # - 订阅 joint_states 话题获取关节角度 + # - 根据 URDF 模型计算 base_link → laser_link, wheel_link 等变换 + # - publish_frequency=30Hz 确保 TF 更新平滑 + # - use_sim_time=True 使用 /clock 仿真时间 + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[{"robot_description": robot_description, + 'use_sim_time': True, 'publish_frequency': 30.0}] + ) + + # joint_state_publisher: 发布非固定关节的默认状态 + # 如果 Gazebo 已经发布 joint_states,此节点可以注释掉避免冲突 + # joint_state_publisher = Node( + # package="joint_state_publisher", + # executable="joint_state_publisher" + # ) + + # =============================5.将所有 Action 添加到 LaunchDescription ================================== + # 注意：nav2_bringup_launch 必须在 Gazebo 启动之后, + # 否则会出现 /clock 话题未就绪的问题 + # 可通过 TimerAction 添加延迟,或依赖 launch 系统的自动排序 + ld.add_action(model) # 1. 声明模型路径参数 + ld.add_action(nav2_bringup_launch) # 2. 启动 Nav2 一体化（map_server + AMCL + 导航） + ld.add_action(start_gazebo_cmd) # 3. 启动 Gazebo 仿真器 + ld.add_action(spawn_entity_cmd) # 4. 在 Gazebo 中生成机器人 + ld.add_action(robot_state_publisher) # 5. 发布机器人 TF 树 + # ld.add_action(joint_state_publisher) # 6. (可选) 默认关节状态发布 + + return ld diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py new file mode 100644 index 0000000..a896429 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py @@ -0,0 +1,196 @@ +# ============================================================================ +# gc_nav2_with_slam.launch.py +# 功能：基于 slam_toolbox 定位的导航启动文件 +# +# 架构： +# Gazebo 仿真环境 +# ├── robot_state_publisher — 发布机器人 TF 树（URDF 模型） +# ├── map_server — 加载 my_map.yaml，发布全量静态地图到 /map +# ├── slam_toolbox — 加载 my_map.posegraph，激光扫描匹配定位 +# │ 发布 map→odom TF，替代 AMCL 的粒子滤波 +# │ ⚠️ /map 话题重映射为 /slam_map，避免冲突 +# └── navigation_launch — Nav2 导航栈（路径规划 + 运动控制） +# global_costmap 从 /map 获取全量静态地图 +# +# 与 AMCL 方案的区别： +# AMCL： 粒子滤波定位，需要手动设置初始位姿 +# SLAM定位： 激光扫描匹配定位，自动根据地图特征定位 +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import Command +from launch.actions import ExecuteProcess + + +def generate_launch_description(): + """生成 LaunchDescription，启动 Gazebo + SLAM定位 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1.定位到包的地址============================================================= + # 通过 ament_index 获取各功能包的安装路径 + pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_urdf_dir = get_package_share_directory('origincar_description') + + # =============================2.声明参数=============================================================== + # use_sim_time: 仿真时间开关。Gazebo 下必须为 True， + # 因为仿真环境通过 /clock 话题提供时间，而非系统时间 + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + # map_yaml_path: 全量静态地图 yaml 文件路径 + # 由 map_server 加载，发布到 /map 供 global_costmap 使用 + map_yaml_path = LaunchConfiguration('map', default=os.path.join( + pkg_dir, 'maps', 'my_map.yaml')) + + # nav2_param_path: Nav2 导航栈参数文件（不含 AMCL，含 slam_toolbox） + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam.yaml')) + + # slam_params_file: slam_toolbox 定位模式的参数文件 + # mode: localization — 只定位不建图 + # 包含 solver 配置、激光匹配参数、TF 帧定义等 + slam_params_file = os.path.join( + pkg_dir, 'config', 'mapper_params_localization.yaml') + + # posegraph_path: slam_toolbox 定位所需的序列化地图文件 + # .posegraph 文件保存了 slam_toolbox 建图时的位姿图 + # 配合 .data 文件，slam_toolbox 可以还原完整地图用于激光匹配 + posegraph_path = os.path.join( + pkg_dir, 'maps', 'my_map.posegraph') + + # =============================3.slam_toolbox 定位模式（替代 AMCL）========================================= + # localization_slam_toolbox_node: + # - 加载 .posegraph 序列化地图用于激光扫描匹配 + # - 发布 map→odom 坐标变换（替代 AMCL 的粒子滤波定位） + # - 发布 /pose 话题（当前定位位姿） + # + # ⚠️ 关键：将 slam_toolbox 的 /map 重映射为 /slam_map + # 避免覆盖 map_server 发布到 /map 的全量静态地图 + # 确保 global_costmap 的 static_layer 能获取完整地图边界 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='localization_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, + {'use_sim_time': True, + 'map_file_name': posegraph_path}], + remappings=[('/map', '/slam_map')], + ) + + # =============================4.map_server 提供全量静态地图给 global_costmap ============================= + # map_server: + # - 加载 my_map.yaml + my_map.pgm 格式的传统静态地图 + # - 发布完整地图到 /map 话题（199×266 像素，分辨率 0.05 m） + # - 这是 global_costmap 静态层的唯一数据来源 + # - 是 lifecycle 节点，需要 lifecycle_manager 激活 + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': map_yaml_path, + 'use_sim_time': True}], + ) + + # lifecycle_manager: 管理 map_server 的生命周期（configure → activate） + # autostart=True 表示启动后自动激活 map_server + map_server_lifecycle = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_map', + output='screen', + parameters=[{'use_sim_time': True, + 'autostart': True, + 'node_names': ['map_server']}], + ) + + # =============================5.仅启动 nav2 navigation（不含 localization）================================= + # 为什么用 navigation_launch 而不是 bringup_launch？ + # bringup_launch 包含 localization_launch（AMCL + map_server） + # 由于 slam_toolbox 已经替代了 AMCL，只需 navigation_launch 的： + # - planner_server — 全局/局部路径规划 + # - controller_server — 路径跟踪控制（MPPI） + # - behavior_server — 行为树（spin/backup/wait 恢复） + # - bt_navigator — 行为树导航编排 + # - costmap 层 — global_costmap + local_costmap + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path}.items(), + ) + + # =============================6.Gazebo仿真设置========================================================== + # robot_name_in_model: Gazebo 中机器人的模型名称，需与 URDF 中一致 + robot_name_in_model = 'mycar' + + # default_model_path: 机器人 URDF 模型文件路径 + # 使用 xacro 预处理生成最终的 URDF + default_model_path = os.path.join( + origincar_urdf_dir, "urdf", "origincar.urdf") + + # 声明 model 启动参数，支持命令行覆盖 URDF 路径 + model = DeclareLaunchArgument( + name="model", default_value=default_model_path) + + # Gazebo 世界文件路径 + gazebo_world_path = os.path.join(origincar_urdf_dir, 'world/test.world') + + # 启动 Gazebo 仿真器 + # --verbose: 详细日志输出 + # -s libgazebo_ros_init.so: 加载 ROS-Gazebo 初始化插件 + # -s libgazebo_ros_factory.so: 加载模型生成插件 + start_gazebo_cmd = ExecuteProcess( + cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', + '-s', 'libgazebo_ros_factory.so', gazebo_world_path], + output='screen') + + # 在 Gazebo 中生成机器人模型 + # -entity: 模型实例名称 + # -file: URDF 模型文件 + spawn_entity_cmd = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=['-entity', robot_name_in_model, + '-file', default_model_path], + output='screen' + ) + + # robot_description: 将 URDF/XACRO 模型转换为 ROS 参数 + # robot_state_publisher 订阅此参数发布 TF 树 + robot_description = ParameterValue( + Command(["xacro ", LaunchConfiguration("model")]), value_type=str) + + # robot_state_publisher: 发布机器人各连杆的 TF 变换 + # base_link → laser_link, wheel_link 等关节状态 + # publish_frequency=30Hz 保证平滑的 TF 更新 + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[{"robot_description": robot_description, + 'use_sim_time': True, 'publish_frequency': 30.0}] + ) + + # =============================7.将所有 Action 添加到 LaunchDescription ================================== + # 启动顺序由 Launch 系统自动管理依赖 + ld.add_action(model) # 1. 声明模型参数 + ld.add_action(start_gazebo_cmd) # 2. 启动 Gazebo 仿真器 + ld.add_action(spawn_entity_cmd) # 3. 生成机器人模型 + ld.add_action(robot_state_publisher) # 4. 发布 TF 树 + ld.add_action(map_server_node) # 5. 加载全量静态地图 → /map + ld.add_action(map_server_lifecycle) # 6. 激活 map_server + ld.add_action(slam_toolbox_node) # 7. 启动 SLAM 定位 → map→odom TF + ld.add_action(navigation_launch) # 8. 启动 Nav2 导航栈 + + return ld + + diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online.launch.py new file mode 100644 index 0000000..c2020d6 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online.launch.py @@ -0,0 +1,181 @@ +# ============================================================================ +# gc_nav2_with_slam_online.launch.py +# 功能：已知全局地图 + SLAM 在线更新 + 导航 +# +# 架构： +# ┌─ /map（全量静态地图，199×266） +# map_server ──────────┤ +# └─ 来自 my_map.yaml + my_map.pgm +# +# ┌─ map→odom TF（激光扫描匹配定位） +# slam_toolbox ────────┤ +# (async mapping) └─ /slam_map（实时建图结果，重映射避免冲突） +# +# navigation ┌─ global_costmap/static_layer ← /map（全量地图） +# ├─ local_costmap/obstacle_layer ← /scan（实时避障） +# └─ planner + controller + behavior +# +# 关键设计： +# 1. map_server 提供全量静态底图 → Foxglove 中看到完整房间布局 +# 2. slam_toolbox 定位 + 实时建图，/slam_map 可单独查看更新效果 +# 3. 实时避障通过 costmap 的 obstacle_layer 实现（不依赖地图更新） +# 4. 定期调用 /slam_toolbox/serialize_map 保存更新后的地图 +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, SetEnvironmentVariable +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import Command +from launch.actions import ExecuteProcess + + +def generate_launch_description(): + """启动 Gazebo + 已知全局地图 + SLAM 在线定位建图 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1.包路径================================================================ + pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_urdf_dir = get_package_share_directory('origincar_description') + + # =============================2.参数================================================================== + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + map_yaml_path = os.path.join(pkg_dir, 'maps', 'zhihui.yaml') + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam.yaml')) + slam_params_file = os.path.join(pkg_dir, 'config', 'slam_toolbox_async.yaml') + posegraph_path = os.path.join(pkg_dir, 'maps', 'zhihui.posegraph') + + # =============================3.map_server：全量静态地图（Foxglove 看到的全局地图）======================== + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': map_yaml_path, 'use_sim_time': True}], + ) + map_server_lifecycle = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_map', + output='screen', + parameters=[{'use_sim_time': True, 'autostart': True, + 'node_names': ['map_server']}], + ) + + # =============================4.slam_toolbox：定位 + 实时建图============================================= + # ⚠️ /map 重映射到 /slam_map，避免覆盖 map_server 的全量地图 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, {'use_sim_time': True}], + remappings=[('/map', '/slam_map')], + ) + + # =============================5.加载已有序列化地图======================================================= + # 通过 ros2 service call 在 slam_toolbox 启动后加载 + import launch + load_map_cmd = ExecuteProcess( + cmd=[ + 'bash', '-c', + # 等待 slam_toolbox 服务就绪后加载地图 + 'sleep 8 && ' + 'ros2 service call /slam_toolbox/deserialize_map ' + 'slam_toolbox/srv/DeserializePoseGraph ' + "'{filename: \"%s\", match_type: 1}'" % posegraph_path, + ], + output='screen', + ) + + # =============================6.Nav2 导航栈============================================================ + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + }.items(), + ) + + # =============================7.Gazebo 仿真============================================================ + robot_name_in_model = 'mycar' + default_model_path = os.path.join(origincar_urdf_dir, 'urdf', 'origincar.urdf') + model = DeclareLaunchArgument(name='model', default_value=default_model_path) + gazebo_world_path = os.path.join(origincar_urdf_dir, 'world', 'zhihui.world') + start_gazebo_cmd = ExecuteProcess( + cmd=['gazebo', '--verbose', + '-s', 'libgazebo_ros_init.so', + '-s', 'libgazebo_ros_factory.so', + gazebo_world_path], + output='screen', + ) + + # =============================7a.机器人初始位姿参数===================================================== + # 通过命令行参数覆盖，例如： + # ros2 launch ... spawn_x:=1.0 spawn_y:=-2.0 spawn_yaw:=1.57 + spawn_x = LaunchConfiguration('spawn_x', default='-4.311092') + spawn_y = LaunchConfiguration('spawn_y', default='-4.299756') + spawn_z = LaunchConfiguration('spawn_z', default='0.0') + spawn_yaw = LaunchConfiguration('spawn_yaw', default='0.0') + + set_spawn_x = SetEnvironmentVariable('SPAWN_X', spawn_x) + set_spawn_y = SetEnvironmentVariable('SPAWN_Y', spawn_y) + set_spawn_z = SetEnvironmentVariable('SPAWN_Z', spawn_z) + set_spawn_yaw = SetEnvironmentVariable('SPAWN_YAW', spawn_yaw) + + # =============================7b.在 Gazebo 中生成机器人================================================= + # 通过 bash 读取环境变量，确保位姿参数正确传递 + spawn_entity_cmd = ExecuteProcess( + cmd=['bash', '-c', + 'ros2 run gazebo_ros spawn_entity.py ' + '-entity mycar ' + f'-file {default_model_path} ' + '-x $SPAWN_X -y $SPAWN_Y -z $SPAWN_Z -Y $SPAWN_YAW'], + output='screen', + ) + + robot_description = ParameterValue( + Command(['xacro ', LaunchConfiguration('model')]), value_type=str, + ) + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{'robot_description': robot_description, + 'use_sim_time': True, 'publish_frequency': 30.0}], + ) + + # =============================8.组装================================================================== + ld.add_action(model) + ld.add_action(DeclareLaunchArgument( + 'spawn_x', default_value='-4.311092', + description='机器人初始 x 坐标（m）')) + ld.add_action(DeclareLaunchArgument( + 'spawn_y', default_value='-4.299756', + description='机器人初始 y 坐标（m）')) + ld.add_action(DeclareLaunchArgument( + 'spawn_z', default_value='0.0', + description='机器人初始 z 坐标（m）')) + ld.add_action(DeclareLaunchArgument( + 'spawn_yaw', default_value='0.0', + description='机器人初始偏航角（rad）')) + ld.add_action(start_gazebo_cmd) + ld.add_action(set_spawn_x) + ld.add_action(set_spawn_y) + ld.add_action(set_spawn_z) + ld.add_action(set_spawn_yaw) + ld.add_action(spawn_entity_cmd) + ld.add_action(robot_state_publisher) + ld.add_action(map_server_node) + ld.add_action(map_server_lifecycle) + ld.add_action(slam_toolbox_node) + ld.add_action(load_map_cmd) + ld.add_action(navigation_launch) + + return ld diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online_real.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online_real.launch.py new file mode 100644 index 0000000..a37bb2d --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online_real.launch.py @@ -0,0 +1,80 @@ +# ============================================================================ +# gc_nav2_with_slam_online_real.launch.py +# 功能：真机实时建图 — slam_toolbox 从零建图 + Nav2 导航 +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import Command + + +def generate_launch_description(): + """真机实时建图：slam_toolbox 从零建图 + Nav2 导航""" + ld = LaunchDescription() + + # === 1. 包路径 === + pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_urdf_dir = get_package_share_directory('origincar_description') + + # === 2. 参数 === + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam.yaml')) + slam_params_file = os.path.join(pkg_dir, 'config', 'slam_toolbox_mapping.yaml') + + # === 3. slam_toolbox：实时建图 → 直接发布到 /map === + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, + {'use_sim_time': use_sim_time}], + ) + + # === 4. Nav2 导航栈 === + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + }.items(), + ) + + # === 5. 机器人模型 + TF === + model = DeclareLaunchArgument( + name='model', + default_value=os.path.join(origincar_urdf_dir, 'urdf', 'origincar.urdf')) + + robot_description = ParameterValue( + Command(['xacro ', LaunchConfiguration('model')]), value_type=str) + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{'robot_description': robot_description, + 'use_sim_time': use_sim_time, 'publish_frequency': 30.0}], + ) + + base_footprint_tf = Node( + package='tf2_ros', + executable='static_transform_publisher', + name='base_footprint_to_base_link', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ) + + # === 6. 组装 === + ld.add_action(model) + ld.add_action(robot_state_publisher) + ld.add_action(base_footprint_tf) + ld.add_action(slam_toolbox_node) + ld.add_action(navigation_launch) + + return ld diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py new file mode 100644 index 0000000..f1f8042 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + + +def generate_launch_description(): + # 获取参数文件路径 + pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox') + params_file = os.path.join( + pkg_share, 'config', 'mapper_params_lifelong.yaml') + + # 创建SLAM Toolbox节点 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node + name='slam_toolbox', + output='screen', + parameters=[params_file] + ) + + return LaunchDescription([ + slam_toolbox_node + ]) diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py new file mode 100644 index 0000000..63f180e --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + + +def generate_launch_description(): + # 获取参数文件路径 + pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox') + params_file = os.path.join( + pkg_share, 'config', 'mapper_params_localization.yaml') + + # 创建SLAM Toolbox节点 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='localization_slam_toolbox_node', # 或 sync_slam_toolbox_node + name='slam_toolbox', + output='screen', + parameters=[params_file] + ) + + return LaunchDescription([ + slam_toolbox_node + ]) diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py new file mode 100644 index 0000000..6f6ccfb --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + + +def generate_launch_description(): + # 获取参数文件路径 + pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox') + params_file = os.path.join( + pkg_share, 'config', 'mapper_params_online_async.yaml') + + # 创建SLAM Toolbox节点 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node + name='slam_toolbox', + output='screen', + parameters=[params_file] + ) + + return LaunchDescription([ + slam_toolbox_node + ]) diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py new file mode 100644 index 0000000..1247175 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py @@ -0,0 +1,196 @@ +#!/usr/bin/env python3 +# ============================================================================ +# gc_slam_mapping.launch.py +# 功能：Gazebo 仿真环境 + SLAM 建图启动文件 +# +# 适用场景： +# - 在 Gazebo 仿真中遥控机器人建立环境地图 +# - 在已有地图基础上增量更新 +# - 单独调试 slam_toolbox 建图参数 +# +# 架构： +# Gazebo 仿真器 — 加载 zhihui.world（智慧楼墙体环境） +# spawn_entity — 在 Gazebo 中生成机器人模型 +# robot_state_publisher — 发布机器人 TF 树（URDF 模型） +# joint_state_publisher — 发布关节状态 +# async_slam_toolbox_node — 激光 SLAM 建图（mapping 模式） +# 发布 map→odom TF +# 发布 /map 话题（实时地图） +# +# 使用方式： +# ros2 launch gc_navigation2_slamtoolbox gc_slam_mapping.launch.py +# +# 保存地图： +# ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph \ +# "{filename: '/home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map'}" +# ros2 run nav2_map_server map_saver_cli -f +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, ExecuteProcess, SetEnvironmentVariable +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import Command + + +def generate_launch_description(): + """生成 LaunchDescription，启动 Gazebo + slam_toolbox 建图""" + + # ============================ 1. 包路径 ========================================= + pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox') + origincar_urdf_dir = get_package_share_directory('origincar_description') + + # ============================ 2. 声明启动参数 ==================================== + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + # slam_params_file: slam_toolbox 配置文件 + slam_params_file = LaunchConfiguration( + 'slam_params_file', + default=os.path.join(pkg_dir, 'config', 'slam_toolbox_async.yaml')) + + # map_file_name: 可选，加载已有序列化地图继续建图 + map_file_name = LaunchConfiguration('map_file_name', default='') + + # model: 机器人 URDF 模型路径（用于 xacro 处理） + # origincar.urdf 是纯 URDF（不含 xacro 宏），xacro 会原样透传 + default_model_path = os.path.join( + origincar_urdf_dir, 'urdf', 'origincar.urdf') + model = DeclareLaunchArgument( + name='model', default_value=default_model_path) + + # spawn_model: Gazebo 中生成机器人用的 URDF（不含 xacro 宏） + spawn_model_path = os.path.join( + origincar_urdf_dir, 'urdf', 'origincar.urdf') + + # ============================ 3. 设置 GAZEBO_MODEL_PATH ========================== + # 让 Gazebo 能找到 zhihui 模型，同时保留标准模型路径 + gazebo_model_path = os.path.join(pkg_dir, 'world') + existing_gazebo_path = os.environ.get('GAZEBO_MODEL_PATH', '') + if existing_gazebo_path: + full_gazebo_path = f'{gazebo_model_path}:{existing_gazebo_path}' + else: + full_gazebo_path = gazebo_model_path + set_gazebo_model_path = SetEnvironmentVariable( + name='GAZEBO_MODEL_PATH', + value=full_gazebo_path + ) + + # ============================ 4. 启动 Gazebo 仿真器 ============================== + gazebo_world_path = os.path.join(pkg_dir, 'world', 'zhihui.world') + start_gazebo_cmd = ExecuteProcess( + cmd=['gazebo', '--verbose', + '-s', 'libgazebo_ros_init.so', + '-s', 'libgazebo_ros_factory.so', + gazebo_world_path], + output='screen' + ) + + # ============================ 5. 机器人初始位姿参数 ============================== + # 通过命令行参数覆盖，例如： + # ros2 launch ... spawn_x:=1.0 spawn_y:=-2.0 spawn_yaw:=1.57 + spawn_x = LaunchConfiguration('spawn_x', default='-4.311092') + spawn_y = LaunchConfiguration('spawn_y', default='-4.299756') + spawn_z = LaunchConfiguration('spawn_z', default='0.0') + spawn_yaw = LaunchConfiguration('spawn_yaw', default='0.0') + + # 将位姿参数设为环境变量，供 spawn 命令使用 + set_spawn_x = SetEnvironmentVariable('SPAWN_X', spawn_x) + set_spawn_y = SetEnvironmentVariable('SPAWN_Y', spawn_y) + set_spawn_z = SetEnvironmentVariable('SPAWN_Z', spawn_z) + set_spawn_yaw = SetEnvironmentVariable('SPAWN_YAW', spawn_yaw) + + # ============================ 6. 在 Gazebo 中生成机器人 ========================== + # 通过 bash 读取环境变量，确保位姿参数正确传递 + robot_name_in_model = 'mycar' + spawn_entity_cmd = ExecuteProcess( + cmd=['bash', '-c', + 'ros2 run gazebo_ros spawn_entity.py ' + '-entity mycar ' + f'-file {spawn_model_path} ' + '-x $SPAWN_X -y $SPAWN_Y -z $SPAWN_Z -Y $SPAWN_YAW'], + output='screen' + ) + + # ============================ 7. robot_state_publisher =========================== + robot_description = ParameterValue( + Command(['xacro ', LaunchConfiguration('model')]), + value_type=str + ) + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{ + 'robot_description': robot_description, + 'use_sim_time': True, + 'publish_frequency': 30.0, + }], + ) + + # ============================ 8. joint_state_publisher =========================== + joint_state_publisher_node = Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher', + output='screen', + parameters=[{'use_sim_time': use_sim_time}], + ) + + # ============================ 9. slam_toolbox 建图节点 ============================ + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[ + slam_params_file, + { + 'use_sim_time': use_sim_time, + 'map_file_name': map_file_name, + }, + ], + ) + + # ============================ 10. 组装 LaunchDescription ========================= + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='使用仿真时间（Gazebo=true, 实车=false)'), + DeclareLaunchArgument( + 'slam_params_file', + default_value=os.path.join(pkg_dir, 'config', 'slam_toolbox_async.yaml'), + description='slam_toolbox 参数配置文件路径'), + DeclareLaunchArgument( + 'map_file_name', + default_value='', + description='已有序列化地图路径（.posegraph），留空则从零开始建图'), + DeclareLaunchArgument( + 'spawn_x', default_value='-4.311092', + description='机器人初始 x 坐标（m）'), + DeclareLaunchArgument( + 'spawn_y', default_value='-4.299756', + description='机器人初始 y 坐标（m）'), + DeclareLaunchArgument( + 'spawn_z', default_value='0.0', + description='机器人初始 z 坐标（m）'), + DeclareLaunchArgument( + 'spawn_yaw', default_value='0.0', + description='机器人初始偏航角（rad）'), + model, + + set_gazebo_model_path, + set_spawn_x, + set_spawn_y, + set_spawn_z, + set_spawn_yaw, + start_gazebo_cmd, + spawn_entity_cmd, + robot_state_publisher_node, + joint_state_publisher_node, + slam_toolbox_node, + ]) diff --git a/src/gc_navigation2_slamtoolbox/maps/my_map.data b/src/gc_navigation2_slamtoolbox/maps/my_map.data new file mode 100644 index 0000000..68c09b6 Binary files /dev/null and b/src/gc_navigation2_slamtoolbox/maps/my_map.data differ diff --git a/src/gc_navigation2_slamtoolbox/maps/my_map.pgm b/src/gc_navigation2_slamtoolbox/maps/my_map.pgm new file mode 100644 index 0000000..809a0ed Binary files /dev/null and b/src/gc_navigation2_slamtoolbox/maps/my_map.pgm differ diff --git a/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph b/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph new file mode 100644 index 0000000..34c432a Binary files /dev/null and b/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph differ diff --git a/src/gc_navigation2_slamtoolbox/maps/my_map.yaml b/src/gc_navigation2_slamtoolbox/maps/my_map.yaml new file mode 100644 index 0000000..d5afba9 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/maps/my_map.yaml @@ -0,0 +1,7 @@ +image: my_map.pgm +mode: trinary +resolution: 0.05 +origin: [-2.15, -5.81, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/gc_navigation2_slamtoolbox/maps/zhihui.data b/src/gc_navigation2_slamtoolbox/maps/zhihui.data new file mode 100644 index 0000000..31d30e4 Binary files /dev/null and b/src/gc_navigation2_slamtoolbox/maps/zhihui.data differ diff --git a/src/gc_navigation2_slamtoolbox/maps/zhihui.pgm b/src/gc_navigation2_slamtoolbox/maps/zhihui.pgm new file mode 100644 index 0000000..9a4fc43 Binary files /dev/null and b/src/gc_navigation2_slamtoolbox/maps/zhihui.pgm differ diff --git a/src/gc_navigation2_slamtoolbox/maps/zhihui.posegraph b/src/gc_navigation2_slamtoolbox/maps/zhihui.posegraph new file mode 100644 index 0000000..5e49a17 Binary files /dev/null and b/src/gc_navigation2_slamtoolbox/maps/zhihui.posegraph differ diff --git a/src/gc_navigation2_slamtoolbox/maps/zhihui.yaml b/src/gc_navigation2_slamtoolbox/maps/zhihui.yaml new file mode 100644 index 0000000..43ed9c8 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/maps/zhihui.yaml @@ -0,0 +1,7 @@ +image: zhihui.pgm +mode: trinary +resolution: 0.05 +origin: [-4.98, -4.71, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/gc_navigation2_slamtoolbox/package.xml b/src/gc_navigation2_slamtoolbox/package.xml new file mode 100644 index 0000000..5bea8eb --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/package.xml @@ -0,0 +1,18 @@ + + + + gc_navigation2_slamtoolbox + 0.0.0 + TODO: Package description + guoch + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml b/src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml new file mode 100644 index 0000000..867a16a --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml @@ -0,0 +1,413 @@ +amcl: + ros__parameters: + use_sim_time: True + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 10.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +amcl_map_client: + ros__parameters: + use_sim_time: True + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: True + +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 20 + default_server_timeout: 20 + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 30.0 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 56 + model_dt: 0.05 + batch_size: 2000 + vx_std: 0.2 + vy_std: 0.0 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.0 + wz_max: 1.9 + iteration_count: 1 + temperature: 0.3 + gamma: 0.015 + motion_model: "Ackermann" + visualize: false + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.4 + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + # Option to replace Cost and use Obstacles instead + # ObstaclesCritic: + # enabled: true + # cost_power: 1 + # repulsion_weight: 1.5 + # critical_weight: 20.0 + # consider_footprint: false + # collision_cost: 10000.0 + # collision_margin_distance: 0.1 + # near_goal_distance: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + forward_preference: true + # VelocityDeadbandCritic: + # enabled: true + # cost_power: 1 + # cost_weight: 35.0 + # deadband_velocities: [0.05, 0.05, 0.05] + # TwirlingCritic: + # enabled: true + # twirling_cost_power: 1 + # twirling_cost_weight: 10.0 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + transform_tolerance: 0.5 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: True + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: True + transform_tolerance: 0.5 + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: True + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: True + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +map_server: + ros__parameters: + use_sim_time: True + yaml_filename: "turtlebot3_world.yaml" + +map_saver: + ros__parameters: + use_sim_time: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + planner_plugins: ["GridBased"] + use_sim_time: True + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false # whether or not to downsample the map + downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm) + tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found. + allow_unknown: true # allow traveling in unknown space + max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable + max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution + max_planning_time: 5.0 # max time in s for planner to plan, smooth + motion_model_for_search: "REEDS_SHEPP" # or REEDS_SHEPP 可以倒车 + angle_quantization_bins: 72 # Number of angle bins for search + analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach. + analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting + minimum_turning_radius: 0.40 # minimum turning radius in m of path / vehicle + reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1 + change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0 + non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1 + cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable. + retrospective_penalty: 0.015 + lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters. + cache_obstacle_heuristic: false # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. + viz_expansions: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning). WARNING: heavy to compute and to display, for debug only as it degrades the performance. + smooth_path: True # If true, does a simple and quick smoothing post-processing to the path + + smoother: + max_iterations: 1000 + w_smooth: 0.3 + w_data: 0.2 + tolerance: 1.0e-10 + do_refinement: true + refinement_num: 2 + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +smoother_server: + ros__parameters: + use_sim_time: True + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + # drive_on_heading: + # plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.5 + use_sim_time: True + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: True + +waypoint_follower: + ros__parameters: + loop_rate: 20 + use_sim_time: True + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml new file mode 100644 index 0000000..1384445 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml @@ -0,0 +1,343 @@ +slam_toolbox: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom + bt_loop_duration: 50 + default_server_timeout: 20 + # 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待 + default_nav_to_pose_bt_xml: /home/sunrise/yiliao_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: False + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 20.0 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 36 + model_dt: 0.05 + batch_size: 1000 + vx_std: 0.2 + vy_std: 0.0 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.0 + wz_max: 1.9 + iteration_count: 1 + temperature: 0.3 + gamma: 0.015 + motion_model: "Ackermann" + visualize: false + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.4 + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + forward_preference: true + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + transform_tolerance: 0.5 + global_frame: odom + robot_base_frame: base_link + use_sim_time: False + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: False + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: False + transform_tolerance: 0.5 + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: False + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: False + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + planner_plugins: ["GridBased"] + use_sim_time: False + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false + downsampling_factor: 1 + tolerance: 0.25 + allow_unknown: true + max_iterations: 1000000 + max_on_approach_iterations: 1000 + max_planning_time: 5.0 + motion_model_for_search: "REEDS_SHEPP" + angle_quantization_bins: 72 + analytic_expansion_ratio: 3.5 + analytic_expansion_max_length: 3.0 + minimum_turning_radius: 0.40 + reverse_penalty: 1.3 # 后退惩罚，越小越愿意后退（默认 2.0，设为 1.3 允许灵活倒车） + change_penalty: 0.0 + non_straight_penalty: 1.2 + cost_penalty: 2.0 + retrospective_penalty: 0.015 + lookup_table_size: 20.0 + cache_obstacle_heuristic: false + viz_expansions: false + smooth_path: True + + smoother: + max_iterations: 1000 + w_smooth: 0.3 + w_data: 0.2 + tolerance: 1.0e-10 + do_refinement: true + refinement_num: 2 + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +smoother_server: + ros__parameters: + use_sim_time: False + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_behaviors/Spin" # 需保留以匹配默认 BT XML + backup: + plugin: "nav2_behaviors/BackUp" + backup_dist: 0.8 + backup_speed: 0.18 + wait: + plugin: "nav2_behaviors/Wait" + wait_duration: 0.5 + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.5 + use_sim_time: False + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: False + +waypoint_follower: + ros__parameters: + loop_rate: 20 + use_sim_time: False + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak new file mode 100644 index 0000000..31f37c5 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak @@ -0,0 +1,343 @@ +slam_toolbox: + ros__parameters: + use_sim_time: True + +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom + bt_loop_duration: 50 + default_server_timeout: 20 + # 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待 + default_nav_to_pose_bt_xml: /home/guoch/test_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 20.0 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 36 + model_dt: 0.05 + batch_size: 1000 + vx_std: 0.2 + vy_std: 0.0 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.0 + wz_max: 1.9 + iteration_count: 1 + temperature: 0.3 + gamma: 0.015 + motion_model: "Ackermann" + visualize: false + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.4 + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + forward_preference: true + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + transform_tolerance: 0.5 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: True + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: True + transform_tolerance: 0.5 + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: True + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: True + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +map_saver: + ros__parameters: + use_sim_time: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + planner_plugins: ["GridBased"] + use_sim_time: True + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false + downsampling_factor: 1 + tolerance: 0.25 + allow_unknown: true + max_iterations: 1000000 + max_on_approach_iterations: 1000 + max_planning_time: 5.0 + motion_model_for_search: "REEDS_SHEPP" + angle_quantization_bins: 72 + analytic_expansion_ratio: 3.5 + analytic_expansion_max_length: 3.0 + minimum_turning_radius: 0.40 + reverse_penalty: 1.3 # 后退惩罚，越小越愿意后退（默认 2.0，设为 1.3 允许灵活倒车） + change_penalty: 0.0 + non_straight_penalty: 1.2 + cost_penalty: 2.0 + retrospective_penalty: 0.015 + lookup_table_size: 20.0 + cache_obstacle_heuristic: false + viz_expansions: false + smooth_path: True + + smoother: + max_iterations: 1000 + w_smooth: 0.3 + w_data: 0.2 + tolerance: 1.0e-10 + do_refinement: true + refinement_num: 2 + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +smoother_server: + ros__parameters: + use_sim_time: True + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_behaviors/Spin" # 需保留以匹配默认 BT XML + backup: + plugin: "nav2_behaviors/BackUp" + backup_dist: 0.8 + backup_speed: 0.18 + wait: + plugin: "nav2_behaviors/Wait" + wait_duration: 0.5 + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.5 + use_sim_time: True + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: True + +waypoint_follower: + ros__parameters: + loop_rate: 20 + use_sim_time: True + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/src/gc_navigation2_slamtoolbox/world/zhihui/model.config b/src/gc_navigation2_slamtoolbox/world/zhihui/model.config new file mode 100644 index 0000000..70585d9 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/world/zhihui/model.config @@ -0,0 +1,11 @@ + + + zhihui + 1.0 + model.sdf + + + + + + diff --git a/src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf b/src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf new file mode 100644 index 0000000..e1ef463 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf @@ -0,0 +1,471 @@ + + + + -2.11635 -1.73906 0 0 -0 0 + + + + + 1.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -1.61999 -0.744014 0 0 -0 0 + + + + + + 2.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 1.62754 -0.744014 0 0 -0 0 + + + + + + 1 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -0.827543 -0.3078 0 0 -0 1.5708 + + + + + + 1 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 0.327543 -0.319014 0 0 -0 1.5708 + + + + + + 5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 5 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 0.062177 -2.89677 0 0 -0 0 + + + + + + 3.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 3.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -0.305988 0.758719 0 0 -0 0 + + + + + + 3.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 3.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -0.300519 2.09188 0 0 -0 0 + + + + + + 1.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1.5 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 1.65085 1.41824 0 0 -0 -1.5708 + + + + + + 2.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 2.3125 1.40828 0 0 -0 1.5708 + + + + + + 5.25 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 5.25 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -0.19189 2.74413 0 0 -0 3.14159 + + + + + + 2 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 2.6265 -1.8264 0 0 -0 1.5708 + + + + + + 1.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1.5 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -2.25486 1.43754 0 0 -0 -1.5708 + + + + + + 3 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 3 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -2.89932 1.47176 0 0 -0 -1.5708 + + + + + + 2.25 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2.25 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -1.87754 0.1172 0 0 -0 3.14159 + + + + + + 2.13496 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2.13496 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 1.32002 0.107134 0 0 -0 0.001157 + + + + + + 2 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -2.50971 -1.81518 0 0 -0 1.5708 + + 1 + + diff --git a/src/ground_slam b/src/ground_slam deleted file mode 160000 index 287e307..0000000 --- a/src/ground_slam +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 287e3077d7e3a2d23c15cd3faf113425c2803621 diff --git a/src/ground_slam/.gitignore b/src/ground_slam/.gitignore new file mode 100755 index 0000000..f89770e --- /dev/null +++ b/src/ground_slam/.gitignore @@ -0,0 +1,51 @@ +build/ +bin/ +lib/ +debug/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE +bag + +.vscode/* +log/* +saving/* +debug/* +test/* \ No newline at end of file diff --git a/src/ground_slam/CMakeLists.txt b/src/ground_slam/CMakeLists.txt new file mode 100755 index 0000000..369b352 --- /dev/null +++ b/src/ground_slam/CMakeLists.txt @@ -0,0 +1,118 @@ +cmake_minimum_required(VERSION 3.8) +project(ground_slam) + +# Default to C++17 (ROS2 Humble standard) +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +set(CMAKE_BUILD_TYPE Release) +set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) + +# ── ROS2 packages ────────────────────────────────────── +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(visualization_msgs REQUIRED) + +# ── System dependencies ──────────────────────────────── +find_package(OpenCV 4.2 REQUIRED) +find_package(OpenMP REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(FFTW3 REQUIRED) +find_package(Ceres REQUIRED) +find_package(yaml-cpp REQUIRED) +find_package(Boost REQUIRED) +find_package(VTK REQUIRED) + +# ── Compiler flags ───────────────────────────────────── +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native -Wno-reorder") +if(OPENMP_FOUND) + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") +endif() + +# ── Include directories ──────────────────────────────── +include_directories( + ${PROJECT_SOURCE_DIR}/include + ${OpenCV_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} + ${FFTW3_INCLUDE_DIRS} + ${YAML_CPP_INCLUDE_DIR} + ${CERES_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${VTK_INCLUDE_DIRS} +) + +# ── Core library ─────────────────────────────────────── +add_library(${PROJECT_NAME}_lib SHARED + src/optimization_2d/pose_graph_2d.cc + src/utils.cc + src/dataset.cc + src/camera.cc + src/frame.cc + src/edge.cc + src/correlation_flow.cc + src/loop_closure.cc + src/map.cc + src/map_builder.cc + src/thread_publisher.cc + src/map_stitcher.cc + src/visualization.cc + src/timer.cc +) + +target_link_libraries(${PROJECT_NAME}_lib + -lfftw3 + -lfftw3f + ${OpenCV_LIBS} + ${EIGEN3_LIBS} + ${CERES_LIBRARIES} + yaml-cpp + ${Boost_LIBRARIES} + ${VTK_LIBRARIES} +) + +# ROS2 deps (header-only via include_directories above, link where needed) +ament_target_dependencies(${PROJECT_NAME}_lib + rclcpp + geometry_msgs + nav_msgs + std_msgs + sensor_msgs + cv_bridge + tf2 + tf2_geometry_msgs + tf2_ros + visualization_msgs +) + +# ── Executable ───────────────────────────────────────── +add_executable(${PROJECT_NAME} main.cpp) +target_link_libraries(${PROJECT_NAME} ${PROJECT_NAME}_lib) + +ament_target_dependencies(${PROJECT_NAME} + rclcpp +) + +# ── Install ──────────────────────────────────────────── +install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_lib + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY configs/ + DESTINATION share/${PROJECT_NAME}/configs +) + +ament_package() diff --git a/src/ground_slam/LICENSE.md b/src/ground_slam/LICENSE.md new file mode 100644 index 0000000..1b0ab18 --- /dev/null +++ b/src/ground_slam/LICENSE.md @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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GroundSLAM: A Robust Visual SLAM System for Warehouse Robots Using Ground Textures

+ Kuan Xu1, + Zheng Yang1, + Lihua Xie1, + Chen Wang2 +

+ +

+ 1: Centre for Advanced Robotics Technology Innovation (CARTIN), Nanyang Technological University
+ 2: Spatial AI & Robotics (SAIR) Lab, Computer Science and Engineering, University at Buffalo
+

+ + +

+ + 🎥 [Youtube] | + 🎥 [Bilibili] + 📊 [Supplementary] + +

+ + +pipeline + +GroundSLAM is a novel **feature-free** and **ground-texture-based** SLAM system for **the warehouse robot**. Our system can provide robust pose estimation and localization in environments with many **dynamic** objects or **open spaces**, such as warehouses, which is very challenging for localization systems with a forward-facing camera or LiDAR. GroundSLAM consists of three components: feature-free visual odometry, ground-texture-based loop detection and map optimization, and map reuse. Specifically, we introduce a kernel cross-correlator for **image-level pose tracking**, loop detection, and map reuse to improve localization accuracy and robustness, and incorporate adaptive pruning strategies to enhance efficiency. Due to these specific designs, GroundSLAM more **robust** and **accurate** when dealing with ground images with **few textures** or with many **repetitive patterns** than the feature-based methods. + + + +**Video:** + + +

+ +

+ +## Test Environment +### Dependencies +* OpenCV 4.2 +* Eigen 3 +* Ceres 2.0.0 +* FFTW3 +* ROS noetic +* Boost +* yaml-cpp +* VTK + +## Build +``` + cd ~/catkin_ws/src + git clone https://github.com/sair-lab/GroundSLAM.git + cd ../ + catkin_make + source ~/catkin_ws/devel/setup.bash +``` + +## Run + +Modify the configuration file in [configs](configs) and then run + +``` +rosrun ground_slam ground_slam src/GroundSLAM/configs/your_config.yaml +``` + +## Data + +### PathTex Dataset + + pathtex_dataset + + +Our data collection platform is a modified Weston SCOUT Robot. The robot is equipped with an IDS uEye monocular camera, which is positioned at the bottom and facing downward, placed at a height of 0.1m above the ground. To ensure constant illumination, a set of LED lights are arranged around the camera. For ground truth, a prism is installed on the top of the robot, and its position is tracked by a Leica Nova MS60 MultiStation laser tracker. + +We collect the data of 10 common ground textures, including 6 $\color{lightblue}{outdoor}$ textures and 4 $\color{red}{indoor}$ textures. The table below provides detailed information and download links for each sequence. The **camera parameters** can be found [here](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EQqXW2eDcXNAkBWlSGgq6bgBe2yYdjdcuSJ8HEFey3haGg?e=nOg2ym). + + + + +Sequence Name|Total Size|Total Images|Download Link +:--:|:--:|:--:|:--: +Brick_seq1|1.0g|3119|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EUMENxrPbQBFmzAQmfhMw4YB4df6_uq6ua7H1fo9A7NC7g?e=5Mzy9Q) +Brick_seq2|0.9g|5328|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EY1-hFr2taZJqjxE4k6-W6oB-XenzRAk_RW8DME6VvqUmg?e=PSQEi6) +Carpet1_seq1|1.7g|8458|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/ETuQX1ePORdKmQJ_wFXT1mUBS6MqJ3LoZ-eeUsDhhXouug?e=AmMgBX) +Carpet1_seq2|1.7g|8499|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EQwzCVxFMT1Hh9BMMNljwSgBM27RXd7v8gdM3KMNWm5mDQ?e=aSoH1v) +Carpet2_seq1|3.0g|15481|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EZ6Y6xsmk6xBjkkU7JNrVQIB_zTovWY8-AOPdW7AN7XJLw?e=GvlK03) +Carpet3_seq1|0.7g|4500|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EXxxHyPOvsFBh8judFQqhtEB-kI6uBzFmKcCiNDZZBzBIw?e=917b5c) +Carpet3_seq2|0.7g|4385|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EQHoNL0xtpdKj6e6mhBBLyEBl-7s5N0cJ6U47jzT1tJheg?e=ot4hSH) +Carpet3_seq3|1.0g|6428|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EcE3o-HN0UJEpc57_EJM3kcBSVSIQ8M7oCjkWsZlUQRKLw?e=qG8MUM) +Coarse_asphalt_seq1|1.2g|5897|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EQbDBVemPH9Cp7bqV2ZwfFIBD_gsHQ-d3atPfSY8__6DKQ?e=ASludI) +Concrete_seq1|1.0g|5850|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EcIYh8RIhClKs7ogwgFmS_QBlflxcx-eR33BwRVerNXFgg?e=8McLDA) +Concrete_seq2|0.9g|5975|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EbNJ5FdpQSJMqK-2zyoEPNoBNCO4ZzhuzjzTL2m1AYZQKQ?e=feQNUX) +Fine_asphalt_seq1|1.1g|5119|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EY22RWOcM89ApAYEr0E5I5EB6QhINnL5iGsbgli8INjuXg?e=HArfqb) +Fine_asphalt_seq2|1.3g|11897|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/ERBTClOvkpBHgNeAEc5co4sBI5E-ubQ2MqNFwlfys07mbQ?e=WDd0uP) +Granite_tiles_seq1|1.2g|7194|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/ERNkKMy_nvFFmORT7LU_MxEB7TDzhAsNKEEfBf_cNG4Zbg?e=sjDkYW) +Granite_tiles_seq2|1.6g|10633|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EU-8ocb82WZDpErJuOGfR6oBbQwXEpAzR-nykA6wXk9zeg?e=Vx4P1t) +Gravel_road1_seq1|0.8g|4883|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/ERRQQR0VTCVEqSdo9pM85zwBNMQFRBcgev4VVIZtjg68Vg?e=KFxJST) +Gravel_road2_seq1|2.1g|11776|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EZS9BNL-ct1Nu3_Ag1Z0YuIBt6ah02i8vojro4eHexs4ww?e=hQOLIF) + + +### Run with Your Data + +The data should be organized in the following format: +``` +dataroot +├── image_names.txt +├── rgb +│   ├── 00001.png +│   ├── 00002.png +│   ├── 00003.png +│   └── ...... +└── times.txt +``` +where `image_names.txt` contains the image names in `/dataroot/rgb` and `times.txt` contains the corresponding double type timestamps. + +## Experiments + +### Data Association + + data_association + +We compare the data association of our system with ORB and SIFT on the HD Ground dataset. The numbers of features and matching inliers are given. For our method, the correction results are projected to three coordinate axes and represent the estimation of the 3-DOF movement. The vertical axis is the confidence of estimated movement on the horizontal axis. The higher the value of the peak relative to other positions, the greater the confidence of motion estimation. The results show that the data association of our system is more stable for various ground texture images. + +### Visual Odometry +
+ + +
+ +This experiment is conducted on our PathTex dataset. The left figure shows the trajectories produced by our system and GT-SLAM on 4 sequences. The right figure provides the comparison of error distributions of different systems on the Gravel_road2_seq1 sequence, where the vertical axis is the proportion of pose errors that are less than the given error threshold on the horizontal axis. + +### Loop Closure + +
+ + +
+ +These two figures show the performance difference of GroundSLAM with and without loop correction on the Fine_asphalt_seq2 sequence. It is seen that the pose errors are significantly decreased after the loop correction. diff --git a/src/ground_slam/cmake/FindEigen3.cmake b/src/ground_slam/cmake/FindEigen3.cmake new file mode 100755 index 0000000..0bb8c71 --- /dev/null +++ b/src/ground_slam/cmake/FindEigen3.cmake @@ -0,0 +1,94 @@ +# - Try to find Eigen3 lib +# +# This module supports requiring a minimum version, e.g. you can do +# find_package(Eigen3 3.1.2) +# to require version 3.1.2 or newer of Eigen3. +# +# Once done this will define +# +# EIGEN3_FOUND - system has eigen lib with correct version +# EIGEN3_INCLUDE_DIR - the eigen include directory +# EIGEN3_VERSION - eigen version + +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD license. + + +if(NOT Eigen3_FIND_VERSION) + if(NOT Eigen3_FIND_VERSION_MAJOR) + set(Eigen3_FIND_VERSION_MAJOR 2) + endif(NOT Eigen3_FIND_VERSION_MAJOR) + if(NOT Eigen3_FIND_VERSION_MINOR) + set(Eigen3_FIND_VERSION_MINOR 91) + endif(NOT Eigen3_FIND_VERSION_MINOR) + if(NOT Eigen3_FIND_VERSION_PATCH) + set(Eigen3_FIND_VERSION_PATCH 0) + endif(NOT Eigen3_FIND_VERSION_PATCH) + + set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") +endif(NOT Eigen3_FIND_VERSION) + +macro(_eigen3_check_version) + file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) + + string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") + set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") + set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") + set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") + + set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) + if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK FALSE) + else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK TRUE) + endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + + if(NOT EIGEN3_VERSION_OK) + + message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " + "but at least version ${Eigen3_FIND_VERSION} is required") + endif(NOT EIGEN3_VERSION_OK) +endmacro(_eigen3_check_version) + +if (EIGEN3_INCLUDE_DIR) + + # in cache already + _eigen3_check_version() + set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) + +else (EIGEN3_INCLUDE_DIR) + + # specific additional paths for some OS + if (WIN32) + set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include") + endif(WIN32) + + find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library + PATHS + ${CMAKE_INSTALL_PREFIX}/include + ${EIGEN_ADDITIONAL_SEARCH_PATHS} + ${KDE4_INCLUDE_DIR} + PATH_SUFFIXES eigen3 eigen + ) + + if(EIGEN3_INCLUDE_DIR) + _eigen3_check_version() + endif(EIGEN3_INCLUDE_DIR) + + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) + + mark_as_advanced(EIGEN3_INCLUDE_DIR) + +endif(EIGEN3_INCLUDE_DIR) + +if(EIGEN3_FOUND) + include_directories(${EIGEN3_INCLUDE_DIR}) + link_directories(${EIGEN3_LIBRARIES}) +else(EIGEN3_FOUND) + MESSAGE(FATAL_ERROR "Eigen3 library not found") +endif(EIGEN3_FOUND) \ No newline at end of file diff --git a/src/ground_slam/cmake/FindFFTW3.cmake b/src/ground_slam/cmake/FindFFTW3.cmake new file mode 100755 index 0000000..ff45261 --- /dev/null +++ b/src/ground_slam/cmake/FindFFTW3.cmake @@ -0,0 +1,18 @@ +# - Find FFTW3 +# Find the native FFTW3 includes and library +# +# FFTW3_INCLUDE_DIRS - where to find fftw3.h +# FFTW3_LIBRARIES - List of libraries when using FFTW3. +# FFTW3_FOUND - True if FFTW3 found. + +if (FFTW3_INCLUDE_DIRS) + set(FFTW3_FIND_QUIETLY TRUE) +endif() + +find_path(FFTW3_INCLUDE_DIRS fftw3.h) +find_library(FFTW3_LIBRARIES NAMES fftw3) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(FFTW3 DEFAULT_MSG FFTW3_LIBRARIES FFTW3_INCLUDE_DIRS) + +mark_as_advanced(FFTW3_LIBRARIES FFTW3_INCLUDE_DIRS) diff --git a/src/ground_slam/configs/config_HD.yaml b/src/ground_slam/configs/config_HD.yaml new file mode 100644 index 0000000..9749322 --- /dev/null +++ b/src/ground_slam/configs/config_HD.yaml @@ -0,0 +1,49 @@ +dataset: + camera_config: /media/zheng/xukuanssd/NTU/ground_texture/HD_ground/camera.yaml + dataroot: /media/zheng/xukuanssd/NTU/ground_texture/HD_ground/ramp_rubber/database/seq0033 + image_dir_name: rgb + +correlation_flow: + gaussian: + sigma: 0.2 + height: 1200 + kernel: 0 # {0: "polynomial", 1: "gaussian"} + lambda: 0.1 + polynomial: + offset: 0.1 + power: 3 + rotation_channel: 480 + rotation_divisor: 720 + width: 1600 + +keyframe_selection: + lower_response_thr: 30 + max_angle: 6.3 + max_distance: 0.01 + upper_response_thr: 90 + +map: + grid_scale: 0.1 # the true size of one grid + +loop_closure: + to_find_loop: true + angle_response_thr: 60 + distance_thr: 5 + frame_gap_thr: 100 + position_response_thr: 60 + +map_sticther: + cell_size: 1000 + stitch_map: true + +visualization: + frame_id: map + topic: + image: /kcc_slam/image + frame_pose: /kcc_slam/frame_pose + kcc_pose: /kcc_slam/kcc_pose + map: /kcc_slam/occupancy_map + +saving: + save_pose: true + saving_root: /home/xukuan/debug/kcc diff --git a/src/ground_slam/configs/config_geekplus.yaml b/src/ground_slam/configs/config_geekplus.yaml new file mode 100644 index 0000000..ff333d3 --- /dev/null +++ b/src/ground_slam/configs/config_geekplus.yaml @@ -0,0 +1,50 @@ +dataset: + dataroot: "/home/zheng/datasets/loopclosure/" + camera_config: "/home/zheng/datasets/loopclosure/camera.yaml" + image_dir_name: "" + +correlation_flow: + width: 448 + height: 448 + rotation_divisor: 720 #720 # Higher means higher resolution, but slower + rotation_channel: 480 #480 # Lower means faster. Too lower, e.g., less than 10, may produce error about 1/rotation_divisor*360 degrees. 64 may work well. + lambda: 0.1 # For regularization + kernel: 0 #1 # {0: "polynomial", 1: "gaussian"} + polynomial: # (X^T Y + offset).pow(power) + offset: 0.1 + power: 3 + gaussian: # exp(-(|X-Y|^2/(2*sigma^2))) + sigma: 0.2 # For Gaussian Kernel + +keyframe_selection: + to_find_loop: true + max_distance: 0.2 # in normalized plane, real size equal max_distance*camera_height + max_angle: 0.5 # rad + lower_response_thr: 30 + upper_response_thr: 60 + +map: + grid_scale: 0.1 # the true size of one grid + +loop_closure: + to_find_loop: true + position_response_thr: 60 # this should be tuned together with width and height: higher width*height -> higher threshold + angle_response_thr: 60 # this should be tuned together with rotation_divisor and rotation_channel: higher divisor*channel -> higher threshold + frame_gap_thr: 100 + distance_thr: 5 # in normalized plane, real size equal distance_thr*camera_height + +map_sticther: + stitch_map: true # whether to stitch map + cell_size: 1000 + +visualization: + frame_id: "map" + topic: + image: /kcc_slam/undistort_image + kcc_pose: "/kcc_slam/kcc_pose" + frame_pose: "/kcc_slam/frame_pose" + map: "/kcc_slam/occupancy_map" + +saving: + save_pose: true + saving_root: "/home/zheng/projects/ros_ws/src/kcc_slam/saving/experiments" \ No newline at end of file diff --git a/src/ground_slam/configs/config_ntu.yaml b/src/ground_slam/configs/config_ntu.yaml new file mode 100644 index 0000000..0678a70 --- /dev/null +++ b/src/ground_slam/configs/config_ntu.yaml @@ -0,0 +1,49 @@ +dataset: + camera_config: /media/data/datasets/ntu/NTU_Ground_Texture_Dataset/camera.yaml + dataroot: /media/data/datasets/ntu/NTU_Ground_Texture_Dataset/brick-V3 + image_dir_name: rgb + +correlation_flow: + gaussian: + sigma: 0.2 + height: 480 + kernel: 0 # {0: "polynomial", 1: "gaussian"} + lambda: 0.1 + polynomial: + offset: 0.1 + power: 3 + rotation_channel: 480 + rotation_divisor: 720 + width: 640 + +keyframe_selection: + lower_response_thr: 30 + max_angle: 0.052359877 + max_distance: 0.4 + upper_response_thr: 90 + +map: + grid_scale: 0.1 # the true size of one grid + +loop_closure: + to_find_loop: true + angle_response_thr: 60 + distance_thr: 5 + frame_gap_thr: 100 + position_response_thr: 60 + +map_sticther: + cell_size: 1000 + stitch_map: true + +visualization: + frame_id: map + topic: + image: /kcc_slam/image + frame_pose: /kcc_slam/frame_pose + kcc_pose: /kcc_slam/kcc_pose + map: /kcc_slam/occupancy_map + +saving: + save_pose: true + saving_root: /home/xukuan/debug/kcc diff --git a/src/ground_slam/figures/data_association.jpg b/src/ground_slam/figures/data_association.jpg new file mode 100644 index 0000000..b59c5b5 Binary files /dev/null and b/src/ground_slam/figures/data_association.jpg differ diff --git a/src/ground_slam/figures/features_small.jpg b/src/ground_slam/figures/features_small.jpg new file mode 100644 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CAMERA_H_ +#define CAMERA_H_ + +#include +#include +#include +#include +#include +#include +#include + +class Camera{ +public: + Camera(); + Camera(const std::string& camera_file); + Camera& operator=(const Camera& camera); + + void UndistortImage(cv::Mat& image, cv::Mat& undistort_image); + void GetNewCameraMatrix(cv::Mat& camera_matrix); + double GetImageHeight(); + double GetImageWidth(); + double GetHeight(); + bool HeightIsAccurate(); + void GetExtrinsics(Eigen::Matrix3d& extrinsics); + double GetLengthOfPixel(); + + Eigen::Vector3d ConvertPrincipalToCenter(const Eigen::Vector3d& image_plane_pose); + Eigen::Vector3d ConvertCenterToPrincipal(const Eigen::Vector3d& image_center_pose); + + // Image plane: pixel plane, principal point on the image is the origin + // Camera: normalized plane, + // Robot: robot body coordinate system. + bool ConvertImagePlanePoseToCamera(Eigen::Vector3d& image_plane_pose, Eigen::Vector3d& camera_pose); + bool ConvertCameraPoseToImagePlane(Eigen::Vector3d& image_plane_pose, Eigen::Vector3d& camera_pose); + bool ConvertCameraPoseToRobot(Eigen::Vector3d& camera_pose, Eigen::Vector3d& robot_pose); + bool ConvertRobotPoseToCamera(Eigen::Vector3d& camera_pose, Eigen::Vector3d& robot_pose); + bool ConvertImagePlanePoseToRobot(Eigen::Vector3d& image_plane_pose, Eigen::Vector3d& robot_pose); + bool ConvertRobotPoseToImagePlane(Eigen::Vector3d& image_plane_pose, Eigen::Vector3d& robot_pose); + +private: + int _image_height; + int _image_width; + double _scale; + double _new_scale; + int _new_width; + int _new_height; + double _height; + bool _accurate_height; + cv::Mat _K; + cv::Mat _new_K; + cv::Mat _D; + cv::Mat _map1; + cv::Mat _map2; + Eigen::Matrix3d _extrinsics; +}; + +typedef std::shared_ptr CameraPtr; + +#endif // CAMERA_H_ \ No newline at end of file diff --git a/src/ground_slam/include/circ_shift.h b/src/ground_slam/include/circ_shift.h new file mode 100644 index 0000000..dd37b42 --- /dev/null +++ b/src/ground_slam/include/circ_shift.h @@ -0,0 +1,252 @@ +// circ_shift.h +// https://stackoverflow.com/questions/46077242/eigen-modifyable-custom-expression/46301503#46301503 +// this file implements circShift, fftshift, and ifftshift for Eigen vectors/matrices. +// + +#pragma once +#include + +template using bool_constant = std::integral_constant; + +namespace helper +{ +namespace detail +{ +template +constexpr std::true_type is_matrix(Eigen::MatrixBase); +std::false_type constexpr is_matrix(...); + +template +constexpr std::true_type is_array(Eigen::ArrayBase); +std::false_type constexpr is_array(...); +} + + +template +struct is_matrix : decltype(detail::is_matrix(std::declval>())) +{ +}; + +template +struct is_array : decltype(detail::is_array(std::declval>())) +{ +}; + +template +using is_matrix_or_array = bool_constant::value || is_matrix::value>; + +/* + * Index something if it's not an scalar + */ +template ::value, int>::type = 0> +auto index_if_necessary(T&& thing, Eigen::Index idx) +{ + return thing(idx); +} + +/* + * Overload for scalar. + */ +template >::value, int>::type = 0> + auto index_if_necessary(T&& thing, Eigen::Index) +{ + return thing; +} +} + +namespace Eigen +{ +template +class CircShiftedView; + +namespace internal +{ +template +struct traits> + : traits +{ + enum + { + RowsAtCompileTime = traits::RowsAtCompileTime, + ColsAtCompileTime = traits::ColsAtCompileTime, + MaxRowsAtCompileTime = (RowsAtCompileTime != Dynamic + ? int(RowsAtCompileTime) + : int(traits::MaxRowsAtCompileTime)), + MaxColsAtCompileTime = (ColsAtCompileTime != Dynamic + ? int(ColsAtCompileTime) + : int(traits::MaxColsAtCompileTime)), + XprTypeIsRowMajor = (int(traits::Flags) & RowMajorBit) != 0, + IsRowMajor = ((MaxRowsAtCompileTime == 1 && MaxColsAtCompileTime != 1) ? 1 + : (MaxColsAtCompileTime == 1 && MaxRowsAtCompileTime != 1) ? 0 + : XprTypeIsRowMajor), + FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0, + FlagsLvalueBit = is_lvalue::value ? LvalueBit : 0, + Flags = (traits::Flags & HereditaryBits) | FlagsLvalueBit | FlagsRowMajorBit + }; +}; +} + +template +class CircShiftedViewImpl; + + +template +class CircShiftedView : public CircShiftedViewImpl::StorageKind> +{ +public: + typedef typename CircShiftedViewImpl::StorageKind>::Base Base; + EIGEN_GENERIC_PUBLIC_INTERFACE(CircShiftedView) + EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CircShiftedView) + + typedef typename internal::ref_selector::non_const_type MatrixTypeNested; + typedef typename internal::remove_all::type NestedExpression; + + template + CircShiftedView(XprType& xpr, const T0& rowShift, const T1& colShift) + : m_xpr(xpr), m_rowShift(rowShift), m_colShift(colShift) + { + for (auto c = 0; c < xpr.cols(); ++c) + assert(std::abs(helper::index_if_necessary(m_rowShift, c)) < m_xpr.rows()); // row shift must be within +- rows()-1 + for (auto r = 0; r < xpr.rows(); ++r) + assert(std::abs(helper::index_if_necessary(m_colShift, r)) < m_xpr.cols()); // col shift must be within +- cols()-1 + } + + /** \returns number of rows */ + Index rows() const { return m_xpr.rows(); } + + /** \returns number of columns */ + Index cols() const { return m_xpr.cols(); } + + /** \returns the nested expression */ + const typename internal::remove_all::type& + nestedExpression() const { return m_xpr; } + + /** \returns the nested expression */ + typename internal::remove_reference::type& + nestedExpression() { return m_xpr.const_cast_derived(); } + + EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE + Index getRowIdx(Index row, Index col) const + { + Index R = m_xpr.rows(); + assert(row >= 0 && row < R && col >= 0 && col < m_xpr.cols()); + Index r = row - helper::index_if_necessary(m_rowShift, col); + if (r >= R) + return r - R; + if (r < 0) + return r + R; + return r; + } + + EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE + Index getColIdx(Index row, Index col) const + { + Index C = m_xpr.cols(); + assert(row >= 0 && row < m_xpr.rows() && col >= 0 && col < C); + Index c = col - helper::index_if_necessary(m_colShift, row); + if (c >= C) + return c - C; + if (c < 0) + return c + C; + return c; + } + +protected: + MatrixTypeNested m_xpr; + RowShift m_rowShift; + ColShift m_colShift; +}; + + +// Generic API dispatcher +template +class CircShiftedViewImpl + : public internal::generic_xpr_base>::type +{ + public: + typedef typename internal::generic_xpr_base>::type Base; +}; + +namespace internal +{ +template +struct unary_evaluator, IndexBased> + : evaluator_base> +{ + typedef CircShiftedView XprType; + + enum + { + CoeffReadCost = (evaluator::CoeffReadCost + + NumTraits::AddCost /* for comparison */ + + NumTraits::AddCost) /* for addition */, + Flags = (evaluator::Flags & HereditaryBits), + Alignment = 0 + }; + + EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& xpr) : m_argImpl(xpr.nestedExpression()), m_xpr(xpr) + { + EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); + } + + typedef typename XprType::Scalar Scalar; + typedef typename XprType::CoeffReturnType CoeffReturnType; + + + EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE + CoeffReturnType coeff(Index row, Index col) const + { + return m_argImpl.coeff(m_xpr.getRowIdx(row, col), m_xpr.getColIdx(row, col)); + } + + EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE + CoeffReturnType coeff(Index idx) const + { + if (m_xpr.cols() == 1) + return m_argImpl.coeff(m_xpr.getRowIdx(idx, 1), 1); + if (m_xpr.rows() == 1) + return m_argImpl.coeff(1, m_xpr.getColIdx(1, idx)); + assert(m_xpr.cols() == 1 || m_xpr.rows() == 1); + // default no-assert case - assume col vector + return m_argImpl.coeff(m_xpr.getRowIdx(idx, 1), 1); + } + + EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE + Scalar& coeffRef(Index row, Index col) + { + assert(row >= 0 && row < m_xpr.rows() && col >= 0 && col < m_xpr.cols()); + + return m_argImpl.coeffRef(m_xpr.getRowIdx(row, col), m_xpr.getColIdx(row, col)); + } + + protected: + + evaluator m_argImpl; + const XprType& m_xpr; +}; +} // end namespace internal +} // end namespace Eigen + +template +auto circShift(Eigen::DenseBase& x, RowShift r, ColShift c) +{ + return Eigen::CircShiftedView(x.derived(), r, c); +} + +template +auto fftshift(Eigen::DenseBase& x) +{ + Eigen::Index rs = x.rows() / 2; + Eigen::Index cs = x.cols() / 2; + return Eigen::CircShiftedView(x.derived(), rs, cs); +} + +template +auto ifftshift(Eigen::DenseBase& x) +{ + Eigen::Index rs = (x.rows() + 1) / 2; + Eigen::Index cs = (x.cols() + 1) / 2; + return Eigen::CircShiftedView(x.derived(), rs, cs); +} \ No newline at end of file diff --git a/src/ground_slam/include/correlation_flow.h b/src/ground_slam/include/correlation_flow.h new file mode 100644 index 0000000..bbe3d96 --- /dev/null +++ b/src/ground_slam/include/correlation_flow.h @@ -0,0 +1,36 @@ +#ifndef CORRELATION_FLOW_H +#define CORRELATION_FLOW_H + +#include +#include "utils.h" +#include "read_configs.h" + +class CorrelationFlow{ + +public: + CorrelationFlow(CFConfig& cf_config, double &image_height, double &image_width); + void ComputeIntermedium(const Eigen::ArrayXXf&, Eigen::ArrayXXcf&, Eigen::ArrayXXcf&); + Eigen::Vector3d ComputePose(const Eigen::ArrayXXcf&, const Eigen::ArrayXXf&, const Eigen::ArrayXXcf&, const Eigen::ArrayXXcf&, Eigen::Vector3d&, bool); + +private: + CFConfig cfg; + Eigen::ArrayXXcf target_fft; + Eigen::ArrayXXcf target_rotation_fft; + Eigen::ArrayXXcf FFT(const Eigen::ArrayXXf&); + Eigen::ArrayXXf IFFT(const Eigen::ArrayXXcf&); + Eigen::ArrayXXcf GetTargetFFT(int, int); + inline Eigen::ArrayXXf RemoveZeroComponent(const Eigen::ArrayXXf&); + inline Eigen::ArrayXXcf gaussian_kernel(const Eigen::ArrayXXcf&, int, int); + inline Eigen::ArrayXXcf gaussian_kernel(const Eigen::ArrayXXcf&, const Eigen::ArrayXXcf&, int, int); + inline Eigen::ArrayXXcf polynomial_kernel(const Eigen::ArrayXXcf&, int, int); + inline Eigen::ArrayXXcf polynomial_kernel(const Eigen::ArrayXXcf&, const Eigen::ArrayXXcf&, int, int); + float EstimateTrans(const Eigen::ArrayXXcf&, const Eigen::ArrayXXcf&, const Eigen::ArrayXXcf&, int, int, Eigen::Vector2d&); + inline Eigen::ArrayXXf polar(const Eigen::ArrayXXf&); + inline float GetInfo(const Eigen::ArrayXXf&, float); + + // void PrintArrayToFile (const Eigen::ArrayXXf target); +}; + +typedef std::shared_ptr CorrelationFlowPtr; + +#endif // CORRELATION_FLOW_H \ No newline at end of file diff --git a/src/ground_slam/include/dataset.h b/src/ground_slam/include/dataset.h new file mode 100644 index 0000000..31834f8 --- /dev/null +++ b/src/ground_slam/include/dataset.h @@ -0,0 +1,30 @@ +#ifndef DATASET_H_ +#define DATASET_H_ + +#include +#include +#include +#include +#include +#include + +#include "utils.h" + + +class Dataset{ +public: + Dataset(const std::string& dataroot, const std::string& image_dir_name); + size_t GetDatasetLength(); + bool GetImage(cv::Mat& image, size_t idx); + double GetTimestamp(size_t idx); + +private: + std::string _dataroot; + std::string _image_dir; + std::string _image_name_file_path; + std::vector _image_names; + std::string _time_file_path; + std::vector _timestamps; +}; + +#endif // DATASET_H_ \ No newline at end of file diff --git a/src/ground_slam/include/edge.h b/src/ground_slam/include/edge.h new file mode 100644 index 0000000..bf4581b --- /dev/null +++ b/src/ground_slam/include/edge.h @@ -0,0 +1,31 @@ +#ifndef EDGE_H_ +#define EDGE_H_ + +#include +#include +#include + +#include "utils.h" + +struct Edge{ + enum Type { + Odom = 0, + KCC = 1, + Loop = 2, + Others = 3, + }; + + int _edge_id; + Type _type; + int _from; + int _to; + Eigen::Vector3d _T; + Eigen::Matrix3d _information; + + Edge(); + Edge(int edge_id, Type type, int from, int to, Eigen::Vector3d& T, Eigen::Matrix3d& information); +}; + +typedef std::shared_ptr EdgePtr; + +#endif // EDGE_H_ \ No newline at end of file diff --git a/src/ground_slam/include/frame.h b/src/ground_slam/include/frame.h new file mode 100644 index 0000000..836f082 --- /dev/null +++ b/src/ground_slam/include/frame.h @@ -0,0 +1,45 @@ +#ifndef FRAME_H_ +#define FRAME_H_ + +#include +#include +#include + +#include "utils.h" + + +class Frame{ +public: + Frame(); + Frame(int frame_id); + Frame(int frame_id, double timestamp, Eigen::ArrayXXf&, Eigen::ArrayXXcf&, Eigen::ArrayXXcf&); + Frame& operator=(const Frame& other); + + void SetFrameId(int frame_id); + int GetFrameId(); + double GetTimestamp(); + Eigen::ArrayXXf GetFrame(); + void SetFFTResult(Eigen::ArrayXXcf& fft_result); + void SetFFTResult(Eigen::ArrayXXcf& fft_result, Eigen::ArrayXXcf& depth_fft_result); + void GetFFTResult(Eigen::ArrayXXcf& fft_result); + void GetFFTResult(Eigen::ArrayXXcf& fft_result, Eigen::ArrayXXcf& depth_fft_result); + void SetPose(Eigen::Vector3d& pose); + void GetPose(Eigen::Vector3d& pose); + void AddEdge(int edge_id); + void GetEdgeIds(std::vector& edge_ids); + void SaveToDisk(const std::string root_dir); + +private: + int _frame_id; + double _timestamp; + Eigen::ArrayXXf _frame; + Eigen::ArrayXXcf _fft_result; + Eigen::ArrayXXcf _fft_polar; + Eigen::ArrayXXcf _depth_fft_result; + Eigen::Vector3d _pose; + std::vector _edge_ids; +}; + +typedef std::shared_ptr FramePtr; + +#endif // FRAME_H_ \ No newline at end of file diff --git a/src/ground_slam/include/loop_closure.h b/src/ground_slam/include/loop_closure.h new file mode 100644 index 0000000..274dd9c --- /dev/null +++ b/src/ground_slam/include/loop_closure.h @@ -0,0 +1,43 @@ +#ifndef LOOP_CLOSURE_H_ +#define LOOP_CLOSURE_H_ + +#include "read_configs.h" +#include "correlation_flow.h" +#include "map.h" + + +struct LoopClosureResult{ + bool found; + Eigen::Vector3d response; + FramePtr current_frame; + FramePtr loop_frame; + Eigen::Vector3d relative_pose; + + LoopClosureResult(): found(false), response(-1.0, -1.0, -1.0) {} + LoopClosureResult(bool _found, Eigen::Vector3d _resopnse): found(_found), response(_resopnse) {} + LoopClosureResult& operator=(const LoopClosureResult& other){ + found = other.found; + response = other.response; + current_frame = other.current_frame; + loop_frame = other.loop_frame; + relative_pose = other.relative_pose; + return *this; + } +}; + +class LoopClosure{ +public: + LoopClosure(LoopClosureConfig& loop_closure_config, CorrelationFlowPtr correlation_flow, MapPtr map); + LoopClosureResult FindLoopClosure(Eigen::ArrayXXf& image, FramePtr& current_frame); + LoopClosureResult FindLoopClosure(Eigen::ArrayXXf& image, FramePtr& current_frame, Eigen::Vector3d& prior_pose); + LoopClosureResult FindLoopClosure(Eigen::ArrayXXf& image, FramePtr& current_frame, std::vector& frames); + +private: + LoopClosureConfig _loop_thr; + CorrelationFlowPtr _correlation_flow; + MapPtr _map; +}; + +typedef std::shared_ptr LoopClosurePtr; + +#endif // LOOP_CLOSURE_H_ \ No newline at end of file diff --git a/src/ground_slam/include/map.h b/src/ground_slam/include/map.h new file mode 100644 index 0000000..c501023 --- /dev/null +++ b/src/ground_slam/include/map.h @@ -0,0 +1,81 @@ +#ifndef MAP_H_ +#define MAP_H_ + +#include +#include +#include +#include + +#include "read_configs.h" +#include "camera.h" +#include "frame.h" +#include "edge.h" +#include "utils.h" + + +struct GridLocation{ + GridLocation() : x(0), y(0) {} + GridLocation(int x_, int y_) : x(x_), y(y_) {} + GridLocation& operator=(const GridLocation& other){ + x = other.x; + y = other.y; + return *this; + } + friend std::ostream & operator<<(std::ostream &out, GridLocation &loc){ + out << "(" << loc.x << ", " << loc.y << ")"; + return out; + } + + int x; + int y; +}; + +struct GridLocationHash{ + std::size_t operator() (const GridLocation& loc) const{ + return std::hash()(loc.x) ^ std::hash()(loc.y); + } +}; + +struct GridLocationEqual{ + bool operator()(const GridLocation& l1, const GridLocation& l2) const{ + return l1.x == l2.x && l1.y == l2.y; + } +}; + +typedef std::unordered_set FrameSet; +typedef std::unordered_map GridMap; + +class Map{ +public: + Map(); + Map(MapConfig& map_config); + + void AddFrame(FramePtr& frame); + void SetFrameDistance(FramePtr& frame, double distance); + void AddEdge(EdgePtr& edge); + + int GetAllFrames(std::vector& frames); + double GetFrameDistance(FramePtr& frame); + int GetAllEdges(std::vector& edges); + + void UpdatePoses(AlignedMap frame_poses); + + GridLocation ComputeGridLocation(double x, double y); + GridLocation ComputeGridLocation(Eigen::Vector3d pose); + int GetFramesInGrids(std::vector& frames, std::vector& grid_locations); + + FramePtr GetBaseframe(); + +private: + CameraPtr _camera; + std::map _frames; + std::map _frame_distanses; + std::map _edges; + double _grid_scale; + GridMap _grid_map; + FramePtr _baseframe; +}; + +typedef std::shared_ptr MapPtr; + +#endif // MAP_H_ \ No newline at end of file diff --git a/src/ground_slam/include/map_builder.h b/src/ground_slam/include/map_builder.h new file mode 100644 index 0000000..941a787 --- /dev/null +++ b/src/ground_slam/include/map_builder.h @@ -0,0 +1,83 @@ +#ifndef MAP_BUILDER_H_ +#define MAP_BUILDER_H_ + +#include "read_configs.h" +#include "camera.h" +#include "frame.h" +#include "correlation_flow.h" +#include "map.h" +#include "loop_closure.h" +#include "map_stitcher.h" + + +class MapBuilder{ +public: + MapBuilder(Configs& configs); + + bool AddNewInput(cv::Mat& image, double timestamp = -1); + void ComputeFFTResult(cv::Mat& image); + void ConstructFrame(double timestamp); + void SetCurrentFramePose(); + bool Initialize(); + void UpdateIntermedium(); + void UpdateCurrentPose(); + bool Tracking(Eigen::Vector3d& response); + void AddCFEdge(); + void AddCFEdgeToMap(Eigen::Vector3d& relative_pose, int from, int to, + int edge_id, Edge::Type edge_type, Eigen::Matrix3d& info); + Eigen::Vector2d ComputeRelativeDA(); + void SetFrameDistance(); + bool FindLoopClosure(); + void AddLoopEdges(); + bool OptimizeMap(); + void CheckAndOptimize(); + void UpdateValueAfterLoop(); + + // for visualization + bool GetCFPose(Eigen::Vector3d& pose); + bool GetFramePoses(Aligned& poses, std::vector& timestamps); + bool GetOccupancyMapOrigin( + Eigen::Vector3d& pixel_origin, Eigen::Matrix& real_origin); // [qw, qx, qy, qz, x, y, z] + double GetMapResolution(); + OccupancyData& GetMapData(); + +private: + bool _init; + int _frame_id; + int _edge_id; + bool _last_lost; + + // tmp + FramePtr _last_frame; + FramePtr _current_frame; + // image plane pose + Eigen::Vector3d _last_cf_pose; + Eigen::Vector3d _current_cf_pose; + // real scale pose + Eigen::Vector3d _last_cf_real_pose; + Eigen::Vector3d _current_cf_real_pose; + // robot pose + Eigen::Vector3d _last_pose; + Eigen::Vector3d _current_pose; + // distance + double _distance; + + // intermedium rsults + Eigen::ArrayXXf _image_array; + Eigen::ArrayXXcf _last_fft_result; + Eigen::ArrayXXcf _last_fft_polar; + Eigen::ArrayXXcf _fft_result; + Eigen::ArrayXXcf _fft_polar; + std::vector _loop_matches; + + Configs _configs; + CameraPtr _camera; + CorrelationFlowPtr _correlation_flow; + KeyframeSelectionConfig _kfs_config; + MapPtr _map; + LoopClosurePtr _loop_closure; + MapStitcherPtr _map_stitcher; +}; + + +#endif // MAP_BUILDER_H diff --git a/src/ground_slam/include/map_stitcher.h b/src/ground_slam/include/map_stitcher.h new file mode 100644 index 0000000..e16de59 --- /dev/null +++ b/src/ground_slam/include/map_stitcher.h @@ -0,0 +1,42 @@ +#ifndef MAP_STITCHER_H_ +#define MAP_STITCHER_H_ + +#include "optimization_2d/pose_graph_2d_error_term.h" +#include "camera.h" +#include "frame.h" +#include "map.h" +#include "read_configs.h" + + +struct Cell{ + int size; + Eigen::ArrayXXi data; + Eigen::ArrayXXi weight; + + Cell(): size(0) {} + Cell(int _size): size(_size), data(Eigen::ArrayXXi::Zero(_size, _size)), weight(Eigen::ArrayXXi::Zero(_size, _size)) {} +}; + +typedef std::unordered_map OccupancyData; + +class MapStitcher{ +public: + MapStitcher(MapStitcherConfig config, CameraPtr camera); + void InsertFrame(FramePtr frame, cv::Mat& image); + // input is the posion in one axis, output is the cell and the position in cell + Eigen::Vector2i ComputeCellPosition(int x); + void AddImageToOccupancy(FramePtr frame); + void RecomputeOccupancy(); + OccupancyData& GetOccupancyData(); + +private: + int _cell_size; + bool _to_stitch; + CameraPtr _camera; + std::unordered_map _raw_images; + OccupancyData _occupancy_data; +}; + +typedef std::shared_ptr MapStitcherPtr; + +#endif // MAP_STITCHER_H_ \ No newline at end of file diff --git a/src/ground_slam/include/optimization_2d/angle_local_parameterization.h b/src/ground_slam/include/optimization_2d/angle_local_parameterization.h new file mode 100644 index 0000000..ed19c15 --- /dev/null +++ b/src/ground_slam/include/optimization_2d/angle_local_parameterization.h @@ -0,0 +1,66 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2016 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: vitus@google.com (Michael Vitus) + +#ifndef OPTIMIZATION_2D_ANGLE_LOCAL_PARAMETERIZATION_H_ +#define OPTIMIZATION_2D_ANGLE_LOCAL_PARAMETERIZATION_H_ + +#include + +#include "normalize_angle.h" + + +namespace ceres { +namespace optimization_2d { + +// Defines a local parameterization for updating the angle to be constrained in +// [-pi to pi). +class AngleLocalParameterization { + public: + template + bool operator()(const T* theta_radians, + const T* delta_theta_radians, + T* theta_radians_plus_delta) const { + *theta_radians_plus_delta = + NormalizeAngle(*theta_radians + *delta_theta_radians); + + return true; + } + + static ceres::LocalParameterization* Create() { + return (new ceres::AutoDiffLocalParameterization); + } +}; + +} // namespace optimization_2d +} // namespace ceres + +#endif // OPTIMIZATION_2D_ANGLE_LOCAL_PARAMETERIZATION_H_ \ No newline at end of file diff --git a/src/ground_slam/include/optimization_2d/normalize_angle.h b/src/ground_slam/include/optimization_2d/normalize_angle.h new file mode 100644 index 0000000..29a9805 --- /dev/null +++ b/src/ground_slam/include/optimization_2d/normalize_angle.h @@ -0,0 +1,52 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2016 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: vitus@google.com (Michael Vitus) + +#ifndef OPTIMIZATION_2D_NORMALIZE_ANGLE_H_ +#define OPTIMIZATION_2D_NORMALIZE_ANGLE_H_ + +#include +#include + +namespace ceres { +namespace optimization_2d { + +// Normalizes the angle in radians between [-pi and pi). +template +inline T NormalizeAngle(const T& angle_radians) { + // Use ceres::floor because it is specialized for double and Jet types. + T two_pi(2.0 * M_PI); + return angle_radians - + two_pi * ceres::floor((angle_radians + T(M_PI)) / two_pi); +} + +} // namespace optimization_2d +} // namespace ceres + +#endif // OPTIMIZATION_2D_NORMALIZE_ANGLE_H_ \ No newline at end of file diff --git a/src/ground_slam/include/optimization_2d/pose_graph_2d.h b/src/ground_slam/include/optimization_2d/pose_graph_2d.h new file mode 100644 index 0000000..64154f1 --- /dev/null +++ b/src/ground_slam/include/optimization_2d/pose_graph_2d.h @@ -0,0 +1,33 @@ +#ifndef OPTIMIZATION_2D_POSE_GRAPH_2D_H_ +#define OPTIMIZATION_2D_POSE_GRAPH_2D_H_ + +#include +#include +#include +#include +#include +#include + +#include "angle_local_parameterization.h" +#include "pose_graph_2d_error_term.h" +#include "types.h" + +namespace ceres { +namespace optimization_2d { + +void BuildOptimizationProblem(const std::vector& constraints, + std::map* poses, + ceres::Problem* problem); + +void BuildOptimizationProblemWithScale(const std::vector& constraints, + std::vector& scale_data, + const std::vector& scale_data_idx, + std::map* poses, + ceres::Problem* problem); + +bool SolveOptimizationProblem(ceres::Problem* problem); + +} // namespace optimization_2d +} // namespace ceres + +#endif // OPTIMIZATION_2D_POSE_GRAPH_2D_H_ \ No newline at end of file diff --git a/src/ground_slam/include/optimization_2d/pose_graph_2d_error_term.h b/src/ground_slam/include/optimization_2d/pose_graph_2d_error_term.h new file mode 100644 index 0000000..9b5a35d --- /dev/null +++ b/src/ground_slam/include/optimization_2d/pose_graph_2d_error_term.h @@ -0,0 +1,183 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2016 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: vitus@google.com (Michael Vitus) +// +// Cost function for a 2D pose graph formulation. + +#ifndef OPTIMIZATION_2D_POSE_GRAPH_2D_ERROR_TERM_H_ +#define OPTIMIZATION_2D_POSE_GRAPH_2D_ERROR_TERM_H_ + +#include + +#include "optimization_2d/normalize_angle.h" + +namespace ceres { +namespace optimization_2d { + +template +Eigen::Matrix RotationMatrix2D(T yaw_radians) { + const T cos_yaw = ceres::cos(yaw_radians); + const T sin_yaw = ceres::sin(yaw_radians); + + Eigen::Matrix rotation; + rotation << cos_yaw, -sin_yaw, sin_yaw, cos_yaw; + return rotation; +} + +// Computes the error term for two poses that have a relative pose measurement +// between them. Let the hat variables be the measurement. +// +// residual = information^{1/2} * [ r_a^T * (p_b - p_a) - \hat{p_ab} ] +// [ Normalize(yaw_b - yaw_a - \hat{yaw_ab}) ] +// +// where r_a is the rotation matrix that rotates a vector represented in frame A +// into the global frame, and Normalize(*) ensures the angles are in the range +// [-pi, pi). +class PoseGraph2dErrorTerm { + public: + PoseGraph2dErrorTerm(double x_ab, + double y_ab, + double yaw_ab_radians, + const Eigen::Matrix3d& sqrt_information) + : p_ab_(x_ab, y_ab), + yaw_ab_radians_(yaw_ab_radians), + sqrt_information_(sqrt_information) {} + + template + bool operator()(const T* const x_a, + const T* const y_a, + const T* const yaw_a, + const T* const x_b, + const T* const y_b, + const T* const yaw_b, + T* residuals_ptr) const { + const Eigen::Matrix p_a(*x_a, *y_a); + const Eigen::Matrix p_b(*x_b, *y_b); + + Eigen::Map> residuals_map(residuals_ptr); + + residuals_map.template head<2>() = + RotationMatrix2D(*yaw_a).transpose() * (p_b - p_a) - p_ab_.cast(); + residuals_map(2) = NormalizeAngle( + (*yaw_b - *yaw_a) - static_cast(yaw_ab_radians_)); + + // Scale the residuals by the square root information matrix to account for + // the measurement uncertainty. + residuals_map = sqrt_information_.template cast() * residuals_map; + + return true; + } + + static ceres::CostFunction* Create(double x_ab, + double y_ab, + double yaw_ab_radians, + const Eigen::Matrix3d& sqrt_information) { + return (new ceres:: + AutoDiffCostFunction( + new PoseGraph2dErrorTerm( + x_ab, y_ab, yaw_ab_radians, sqrt_information))); + } + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + private: + // The position of B relative to A in the A frame. + const Eigen::Vector2d p_ab_; + // The orientation of frame B relative to frame A. + const double yaw_ab_radians_; + // The inverse square root of the measurement covariance matrix. + const Eigen::Matrix3d sqrt_information_; +}; + + +class PoseGraph2dErrorTermWithScale { + public: + PoseGraph2dErrorTermWithScale(double x_ab, + double y_ab, + double yaw_ab_radians, + const Eigen::Matrix3d& sqrt_information) + : p_ab_(x_ab, y_ab), + yaw_ab_radians_(yaw_ab_radians), + sqrt_information_(sqrt_information) {} + + template + bool operator()(const T* const x_a, + const T* const y_a, + const T* const yaw_a, + const T* const x_b, + const T* const y_b, + const T* const yaw_b, + const T* const scale, + T* residuals_ptr) const { + const Eigen::Matrix p_a(*x_a, *y_a); + const Eigen::Matrix p_b(*x_b, *y_b); + + Eigen::Map> residuals_map(residuals_ptr); + + Eigen::Matrix scale_matrix = Eigen::Matrix::Identity(); + scale_matrix *= (*scale); + + residuals_map.template head<2>() = + RotationMatrix2D(*yaw_a).transpose() * (p_b - p_a) - scale_matrix * p_ab_.cast(); + residuals_map(2) = NormalizeAngle( + (*yaw_b - *yaw_a) - static_cast(yaw_ab_radians_)); + + // Scale the residuals by the square root information matrix to account for + // the measurement uncertainty. + residuals_map = sqrt_information_.template cast() * residuals_map; + + return true; + } + + static ceres::CostFunction* Create(double x_ab, + double y_ab, + double yaw_ab_radians, + const Eigen::Matrix3d& sqrt_information) { + return (new ceres:: + AutoDiffCostFunction( + new PoseGraph2dErrorTermWithScale( + x_ab, y_ab, yaw_ab_radians, sqrt_information))); + } + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + private: + // The position of B relative to A in the A frame. + const Eigen::Vector2d p_ab_; + // The orientation of frame B relative to frame A. + const double yaw_ab_radians_; + // The inverse square root of the measurement covariance matrix. + const Eigen::Matrix3d sqrt_information_; +}; + + +} // namespace optimization_2d +} // namespace ceres + +#endif // OPTIMIZATION_2D_POSE_GRAPH_2D_ERROR_TERM_H_ \ No newline at end of file diff --git a/src/ground_slam/include/optimization_2d/types.h b/src/ground_slam/include/optimization_2d/types.h new file mode 100644 index 0000000..dd2bc35 --- /dev/null +++ b/src/ground_slam/include/optimization_2d/types.h @@ -0,0 +1,116 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2016 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: vitus@google.com (Michael Vitus) +// +// Defines the types used in the 2D pose graph SLAM formulation. Each vertex of +// the graph has a unique integer ID with a position and orientation. There are +// delta transformation constraints between two vertices. + +#ifndef OPTIMIZATION_2D_TYPES_H_ +#define OPTIMIZATION_2D_TYPES_H_ + +#include +#include + +#include "optimization_2d/normalize_angle.h" + +namespace ceres { +namespace optimization_2d { + +struct ScaleData{ + double scale; + bool fixed; + + ScaleData() {} + ScaleData(double _scale, bool _fixed): scale(_scale), fixed(_fixed) {} + +}; + +inline std::istream& operator>>(std::istream& input, ScaleData& scale_data) { + input >> scale_data.scale >> scale_data.fixed; + // Normalize the angle between -pi to pi. + return input; +} + +// The state for each vertex in the pose graph. +struct Pose2d { + double x; + double y; + double yaw_radians; + + // The name of the data type in the g2o file format. + static std::string name() { return "VERTEX_SE2"; } +}; + +inline std::istream& operator>>(std::istream& input, Pose2d& pose) { + input >> pose.x >> pose.y >> pose.yaw_radians; + // Normalize the angle between -pi to pi. + pose.yaw_radians = NormalizeAngle(pose.yaw_radians); + return input; +} + +// The constraint between two vertices in the pose graph. The constraint is the +// transformation from vertex id_begin to vertex id_end. +struct Constraint2d { + int id_begin; + int id_end; + + double x; + double y; + double yaw_radians; + + // The inverse of the covariance matrix for the measurement. The order of the + // entries are x, y, and yaw. + Eigen::Matrix3d information; + + // The name of the data type in the g2o file format. + static std::string name() { return "EDGE_SE2"; } +}; + +inline std::istream& operator>>(std::istream& input, Constraint2d& constraint) { + input >> constraint.id_begin >> constraint.id_end >> constraint.x >> + constraint.y >> constraint.yaw_radians >> constraint.information(0, 0) >> + constraint.information(0, 1) >> constraint.information(0, 2) >> + constraint.information(1, 1) >> constraint.information(1, 2) >> + constraint.information(2, 2); + + // Set the lower triangular part of the information matrix. + constraint.information(1, 0) = constraint.information(0, 1); + constraint.information(2, 0) = constraint.information(0, 2); + constraint.information(2, 1) = constraint.information(1, 2); + + // Normalize the angle between -pi to pi. + constraint.yaw_radians = NormalizeAngle(constraint.yaw_radians); + return input; +} + +} // namespace optimization_2d +} // namespace ceres + +#endif // OPTIMIZATION_2D_TYPES_H_ \ No newline at end of file diff --git a/src/ground_slam/include/read_configs.h b/src/ground_slam/include/read_configs.h new file mode 100644 index 0000000..b5e7d7a --- /dev/null +++ b/src/ground_slam/include/read_configs.h @@ -0,0 +1,137 @@ +#ifndef READ_CONFIGS_H_ +#define READ_CONFIGS_H_ + +#include +#include + +#include "utils.h" + + +struct DatasetConfig{ + std::string dataroot; + std::string image_dir_name; + std::string camera_file; +}; + +struct CFConfig{ + int width; + int height; + float lambda; + int kernel; + float sigma; + float offset; + int power; + int rotation_divisor; + int rotation_channel; +}; + +struct KeyframeSelectionConfig{ + double max_distance; + double max_angle; + double lower_response_thr; + double upper_response_thr; +}; + +struct MapConfig{ + double grid_scale; +}; + +struct LoopClosureConfig{ + bool to_find_loop; + double position_response_thr; + double angle_response_thr; + int frame_gap_thr; + double distance_thr; +}; + +struct MapStitcherConfig{ + bool stitch_map; + int cell_size; +}; + +struct VisualizationConfig{ + std::string frame_id; + std::string kcc_pose_topic; + std::string frame_pose_topic; + std::string map_topic; + std::string image_topic; +}; + +struct SavingConfig{ + std::string saving_root; + bool save_pose; +}; + +struct Configs{ + DatasetConfig dataset_config; + CFConfig cf_config; + KeyframeSelectionConfig keyframe_selection_config; + MapConfig map_config; + LoopClosureConfig loop_closure_config; + MapStitcherConfig map_stitcher_config; + VisualizationConfig visualization_config; + SavingConfig saving_config; + + Configs(const std::string& config_file){ + if(!FileExists(config_file)){ + std::cout << "config file: " << config_file << " doesn't exist" << std::endl; + return; + } + + YAML::Node file_node = YAML::LoadFile(config_file); + YAML::Node dataset_node = file_node["dataset"]; + dataset_config.dataroot = dataset_node["dataroot"].as(); + dataset_config.image_dir_name = dataset_node["image_dir_name"].as(); + dataset_config.camera_file = dataset_node["camera_config"].as(); + + YAML::Node cf_node = file_node["correlation_flow"]; + cf_config.width = cf_node["width"].as(); + cf_config.height = cf_node["height"].as(); + cf_config.lambda = cf_node["lambda"].as(); + cf_config.rotation_divisor = cf_node["rotation_divisor"].as(); + cf_config.rotation_channel = cf_node["rotation_channel"].as(); + cf_config.kernel = cf_node["kernel"].as(); + cf_config.offset = cf_node["polynomial"]["offset"].as(); + cf_config.power = cf_node["polynomial"]["power"].as(); + cf_config.sigma = cf_node["gaussian"]["sigma"].as(); + + YAML::Node kfs_node = file_node["keyframe_selection"]; + keyframe_selection_config.max_distance = kfs_node["max_distance"].as(); + keyframe_selection_config.max_angle = kfs_node["max_angle"].as(); + keyframe_selection_config.lower_response_thr = kfs_node["lower_response_thr"].as(); + keyframe_selection_config.upper_response_thr = kfs_node["upper_response_thr"].as(); + + YAML::Node map_node = file_node["map"]; + map_config.grid_scale = map_node["grid_scale"].as(); + + YAML::Node loop_closure_node = file_node["loop_closure"]; + loop_closure_config.to_find_loop = + loop_closure_node["to_find_loop"].as(); + loop_closure_config.position_response_thr = + loop_closure_node["position_response_thr"].as(); + loop_closure_config.angle_response_thr = + loop_closure_node["angle_response_thr"].as(); + loop_closure_config.frame_gap_thr = + loop_closure_node["frame_gap_thr"].as(); + loop_closure_config.distance_thr = + loop_closure_node["distance_thr"].as(); + + YAML::Node map_stitcher_node = file_node["map_sticther"]; + map_stitcher_config.stitch_map = map_stitcher_node["stitch_map"].as(); + map_stitcher_config.cell_size = map_stitcher_node["cell_size"].as(); + + YAML::Node visualization_node = file_node["visualization"]; + visualization_config.frame_id = visualization_node["frame_id"].as(); + visualization_config.kcc_pose_topic = visualization_node["topic"]["kcc_pose"].as(); + visualization_config.frame_pose_topic = visualization_node["topic"]["frame_pose"].as(); + visualization_config.map_topic = visualization_node["topic"]["map"].as(); + visualization_config.image_topic = visualization_node["topic"]["image"].as(); + + YAML::Node saving_node = file_node["saving"]; + saving_config.saving_root = saving_node["saving_root"].as(); + saving_config.save_pose = saving_node["save_pose"].as(); + } +}; + + +#endif // READ_CONFIGS_H_ \ No newline at end of file diff --git a/src/ground_slam/include/thread_publisher.h b/src/ground_slam/include/thread_publisher.h new file mode 100644 index 0000000..5b24191 --- /dev/null +++ b/src/ground_slam/include/thread_publisher.h @@ -0,0 +1,32 @@ +#ifndef THREAD_PUBLISHER_H_ +#define THREAD_PUBLISHER_H_ +#include +#include +#include +#include +#include +#include +#include + +template +class ThreadPublisher { +public: + ThreadPublisher(); + ~ThreadPublisher(); + + void Register(std::function&)> cb); + void Start(); + void Publish(const std::shared_ptr msg); + void Process(); + void ShutDown(); + +private: + std::mutex msg_mutex_; + std::condition_variable msg_cond_; + std::queue> msgs_; + std::thread publish_thread_; + std::vector&)>> callbacks_; + bool shutdown_requested_; +}; + +#endif // THREAD_PUBLISHER_H_ diff --git a/src/ground_slam/include/timer.h b/src/ground_slam/include/timer.h new file mode 100755 index 0000000..d0d84e7 --- /dev/null +++ b/src/ground_slam/include/timer.h @@ -0,0 +1,27 @@ +#ifndef _TIMER_H_ +#define _TIMER_H_ + +#include +#include + + +typedef struct{ + struct timeval start; + struct timeval stop; +}Timer; + +void startTimer(Timer *pTimer); +void stopTimer(Timer *pTimer); +double getElapsedTime(Timer *pTimer); +void writeTimeToFile(double arrTime[], int nCount, int nFrameNo, char *filename); + +#define INITIALIZE_TIMER Timer stTimer; double arrTime[100] +#define START_TIMER startTimer(&stTimer) +#define STOP_TIMER(text) stopTimer(&stTimer); printf(text); printf(": %.1f\n",getElapsedTime(&stTimer)) +#define END_TIMER(nIndex) stopTimer(&stTimer); arrTime[nIndex] = getElapsedTime(&stTimer) +#define ACC_TIMER(nIndex) stopTimer(&stTimer); arrTime[nIndex] += getElapsedTime(&stTimer) +#define WRITE_TIME_FILE(nCount, nFrameNo, filename) writeTimeToFile(arrTime, nCount, nFrameNo, (char *)filename) + +#endif//_TIMER_H_ + + diff --git a/src/ground_slam/include/utils.h b/src/ground_slam/include/utils.h new file mode 100644 index 0000000..93642b4 --- /dev/null +++ b/src/ground_slam/include/utils.h @@ -0,0 +1,82 @@ +#ifndef UTILS_H_ +#define UTILS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +// Eigen type +template