https://github.com/iris-ua/iris_lama_ros
Developed and maintained by Eurico Pedrosa, University of Aveiro (C) 2019.
ROS integration of LaMa, a Localization and Mapping package from the Intelligent Robotics and Systems (IRIS) Laboratory, University of Aveiro. It provides 2D Localization and SLAM. It works great on a TurtleBot2 with a Raspberry Pi 3 Model B+ and an Hokuyo (Rapid URG).
To build LaMa ROS, clone it from GitHub and use catkin to build.
mkdir src
cd src
git clone https://github.com/iris-ua/iris_lama
git clone https://github.com/iris-ua/iris_lama_ros
cd ..
catkin config --extend /opt/ros/noetic
catkin build
The build was tested in Ubuntu 20.04 with ROS noetic. It will not build with catkin_make or catkin_make_isolated.
To create a map using Online SLAM execute
rosrun iris_lama_ros slam2d_ros scan_topic:=base_scan
and to create a map using Particle Filter SLAM execute
rosrun iris_lama_ros pf_slam2d_ros scan_topic:=base_scan
and to create a map using Graph SLAM execute
rosrun iris_lama_ros graph_slam2d_ros scan_topic:=base_scan
All nodes will publish to expected topics such as /map and /tf.
If you want to obtain a map from a rosbag and you want to save time (a lot), you can let iris_lama_ros "play" the rosbag for you.
roslaunch iris_lama_ros slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag
or
roslaunch iris_lama_ros pf_slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag
~global_frame_id: The frame attached to the map (default: "map").~odom_frame_id: The frame attached to the odometry system (default: "odom").~base_frame_id: The frame attached to the mobile base (default: "base_link").~scan_topic: Laser scan topic to subscribe (default: "/scan").~transform_tolerance: Defines how long map->odom transform is good for by future dating tf (default: 0.1)~initial_pos_x: Initial x position (default: 0 meters).~initial_pos_y: Initial y position (default: 0 meters).~initial_pos_a: Initial rotation (or angle) (default: 0 rad).~d_thresh: Traveled distance to accumulate before updating (default: 0.01 meters).~a_thresh: Angular motion to accumulate before updating (default: 0.25 rads).~l2_max: Maximum distance to use in the dynamic Euclidean distance map (default: 0.5 meters).~resolution: Resolution of the grid maps (default: 0.05 meters).~patch_size: Length of a patch (default: 32 cells).~strategy: Scan matching optimization strategy, GaussNewton ("gm") or Levenberg Marquard ("lm") (default: "gn").~max_iterations: Maximum number of iterations performed by the optimizer (default: 100)~use_compression: Should the maps be compressed (default: false).~compression_algorithm: Compression algorithm to use, lz4 or zstd (default: "lz4").~cache_size: Size of the LRU used during online data compression (default: 100).~mrange: Maximum laser scan range (default: 16 meters).~beam_step: Number of beams to step (or skip) in each scan (default: 1).~truncate: Truncate the laser scan range from start to "middle" (default: 0.0 meters, 0.0 means no truncation).~truncate_ray: Truncate the laser scan range (or ray) from "middle" to end (default: 0.0 meters, 0.0 means no truncation).~map_publish_period: How long between updates to the map (default: 5 seconds).~transient_map: True to only keep the most recent portion of the map "sensed" by the latest surface (default":false)~create_summary: (default:false)
Particle Filter SLAM only:
~d_thresh: Traveled distance to accumulate before updating (default: 0.5 meters).~particles: Number of particles to use (default: 30).~seed: RNG seed value, use 0 for a random seed from device (default: 0)~threads: Number of working threads, -1 means disabled and 0 will expand to the available number of cores (default: -1).~sigma: Measurement variance (default: 0.05).~lgain: Gain value for smoothing the particles likelihood (default: 3.0).~srr: Odometry error in rotation as a function of rotation (default: 0.1).~str: Odometry error in rotation as a function of translation (default: 0.2).~stt: Odometry error in translation as a function of translation (default: 0.1).~srt: Odometry error in translation as a function of rotation (default: 0.1).
Graph SLAM only:
~d_thresh: Traveled distance to accumulate before updating (default: 0.25 meters).~key_pose_distance: Traveled distance to accumulate before creating a key pose (default: 0.5)~key_pose_angular: Angular motion to accumulate before creating a key pose (default: PI/2)~key_pose_head_delay: Number of latest key poses to ignore for head key pose reference (default: 3)~loop_search_max_distance: Maximum distance used in the adaptive search of a loop candidate (default: 15.0)~loop_search_min_distance: Mininum distance used in the adaptive search of a loop candidate (default: 5.0)-loop_closure_scan_rmse: Maximum RMSE (root mean-squared-error) allowed for a loop candidate (default: 0.075). Increase this value if loop closure links are not being created properly. A good value would be 0.1. Beware of false positives when this value too high.~loop_max_candidates: Maximum number of candidates considered for loop closure (default: 5)~ignore_n_chain_poses: Number of the lastest key poses to ignore for loop closure (default: 20)
/dynamic_map:
This node requires the existence of the /static_map service to load the map.
To run the localization just execute
rosrun iris_lama_ros loc2d_ros scan:=base_scan
Please use rviz to set the initial pose. Global localization is not yet implemented.
/request_nomotion_update: Called to trigger an update without moving the robot (no-motion update)/global_localization: Called to trigger a global localization procedure.
~global_frame_id: The frame attached to the map (default: "map").~odom_frame_id: The frame attached to the odometry system (default: "odometry").~base_frame_id: The frame attached to the mobile base (default: "base_link").~scan_topic: Laser scan topic to subscribe (default: "/scan").~mrange: Maximum laser scan range. When 0, maximum range defaults to the sensor maximum range. (default: 0 meters).~transform_tolerance: Defines how long map->odom transform is good for by future dating tf (default: 0.1)~temporal_update: Force an update if the last processed scan is older than this. A value less or equal to zero disables the check (default: 0.0).~publish_tf: Publish TF correction fromglobal_frame_idtoodom_frame_id(default: true).~beam_step: Number of beams to step (or skip) in each scan (default: 1).~initial_pos_x: Initial x position (default: 0 meters).~initial_pos_y: Initial y position (default: 0 meters).~initial_pos_a: Initial rotation (or angle) (default: 0 rad).~d_thresh: Traveled distance to accumulate before updating (default: 0.01 meters).~a_thresh: Angular motion to accumulate before updating (default: 0.2 rads).~l2_max: Maximum distance to use in the dynamic Euclidean distance map (default: 0.5 meters).~strategy: Scan matching optimization strategy, GaussNewton ("gm") or Levenberg Marquard ("lm") (default: "gn").~patch_size: Length of a patch (default: 32 cells).~covariance_blend: Blending factor ([0,1]) between optimization covariance and sampling covariance (default: 0.0).~use_map_topic: True to subscribe to the/maptopic instead of requesting the map through the "static_map" service (default:false).~first_map_only: True to use only the first map ever received (default:false).~use_pose_on_new_map: True to use the current algorithm pose when the map changes (default:false).~force_update_on_initial_pose: True to trigger a no-motion update when an initial pose is received (default:false)~gloc_particles: Number of particles used to find the best global localization (default: 3000)~gloc_thresh: Value at which a global localization particle is considered viable. (default: 0.15 RMSE)~gloc_iters: Maximum number of iterations executed by the global localization procedure (default: 20)~do_global_loc: True to trigger an initial global localization (default:false)