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mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_ro_slam

Package Summary

mrpt_ekf_slam_3d

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_ro_slam

Package Summary

mrpt_ekf_slam_3d

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_graphslam_2d | mrpt_icp_slam_2d | mrpt_rbpf_slam

Package Summary

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

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_icp_slam_2d | mrpt_rbpf_slam

Package Summary

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

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_graphslam_2d | mrpt_icp_slam_2d | mrpt_rbpf_slam

Package Summary

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

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_graphslam_2d | mrpt_icp_slam_2d | mrpt_rbpf_slam

Package Summary

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

mrpt_slam: mrpt_ekf_slam_2d | mrpt_ekf_slam_3d | mrpt_graphslam_2d | mrpt_icp_slam_2d | mrpt_rbpf_slam

Package Summary

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

Description

The sections below describe the API of this package for 3D EKF-based SLAM. This method takes input measurements to landmarks in the form of range-bearing observations.

Further documentation

The ROS node mrpt_ekf_slam_3d is a wrapper for the C++ class mrpt::slam::CRangeBearingKFSLAM , part of MRPT. Thus, check out the documentation of that class for further details.

For the convention on coordinate frames see ROS REP 105: "Coordinate Frames for Mobile Platforms".

Usage

In order to use mrpt_ekf_slam_3d package it is necessary to install the last MRPT build and themrpt_navigation(see also the tutorial) .

Example

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

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

roslaunch mrpt_ekf_slam_3d ekf_slam_3d.launch

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

roslaunch mrpt_ekf_slam_3d ekf_slam_3d_rawlog.launch

Nodes

mrpt_ekf_slam_3d

The mrpt_ekf_slam_3d node takes in mrpt_msgs/ObservationRangeBearing messages and builds a map with landmarks and robot pose. The map can be retrieved via a ROS topic.

Subscribed Topics

tf (tf/tfMessage) landmark (mrpt_msgs/ObservationRangeBearing)

Published Topics

state_viz (visualization_msgs/MarkerArray) data_association_viz (visualization_msgs/MarkerArray)

Parameters

~global_frame_id (string, default: "map") ~base_frame_id (string, default: "base_link") ~odom_frame_id (string, default: "odom") ~sensor_source (string, default: "scan") ~ini_filename (string, default: None) ~rawlog_filename (string, default: None) ~rawlog_play_delay (float, default: 0.1) ~ellipse_scale (float, default: 1)

Required tf Transforms

<the frame attached to incoming scans>base_link base_linkodom

Provided tf Transforms

mapodom


2019-07-20 12:56