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scan_tools: csm | laser_ortho_projector | laser_scan_matcher | laser_scan_splitter | ncd_parser | polar_scan_matcher

Package Summary

A wrapper around Polar Scan Matcher by Albert Diosi and Lindsay Kleeman, used for laser scan registration.

Package Summary

A wrapper around Polar Scan Matcher by Albert Diosi and Lindsay Kleeman, used for laser scan registration.

scan_tools: laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | polar_scan_matcher | scan_to_cloud_converter

Package Summary

A wrapper around Polar Scan Matcher by Albert Diosi and Lindsay Kleeman, used for laser scan registration.

  • Maintainer status: maintained
  • Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu>
  • Author: Ivan Dryanovski
  • License: GPL
  • Source: git https://github.com/ccny-ros-pkg/scan_tools.git (branch: indigo)
scan_tools: laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | polar_scan_matcher | scan_to_cloud_converter

Package Summary

A wrapper around Polar Scan Matcher by Albert Diosi and Lindsay Kleeman, used for laser scan registration.

  • Maintainer status: maintained
  • Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu>
  • Author: Ivan Dryanovski
  • License: GPL
  • Source: git https://github.com/ccny-ros-pkg/scan_tools.git (branch: indigo)
scan_tools: laser_ortho_projector | laser_scan_matcher | laser_scan_sparsifier | laser_scan_splitter | ncd_parser | polar_scan_matcher | scan_to_cloud_converter

Package Summary

A wrapper around Polar Scan Matcher by Albert Diosi and Lindsay Kleeman, used for laser scan registration.

  • Maintainer status: maintained
  • Maintainer: Ivan Dryanovski <ccnyroboticslab AT gmail DOT com>, Carlos <cjaramillo AT gc.cuny DOT edu>
  • Author: Ivan Dryanovski
  • License: GPL
  • Source: git https://github.com/ccny-ros-pkg/scan_tools.git (branch: indigo)

polar_scan_matching.png

Details

The polar_scan_matcher package is a wrapper around Polar Scan Matcher [1], courtesy of:

Albert Diosi and Lindsay Kleeman
Intelligent Robotics Research Centre (IRRC)
Monash University
http://www.irrc.monash.edu.au/adiosi/downloads.html

The package allows to scan match between consecutive sensor_msgs/LaserScan messages, and publish the estimated position of the laser as a geometry_msgs/Pose2D or a tf transform.

The package is intended to be used without any odometry estimation provided by other sensors. Thus, it can serve as a stand-alone odometry estimator.

An estimation for theta can optionally be provided to improve accuracy, in the form of a sensor_msgs/Imu. This message would typically be published by an IMU or other angular rate sensor.

Alternatively, an estimation for x, y, and theta can optionally be provided to improve accuracy, in the form of a tf transform. This transform would typically be published by an odometry system. This has not yet been tested.

Example

You can run the polar_scan_matcher on a pre-recorded bag file that comes with the package. First, make sure you have the scan_tools stack downloaded and installed by following the instructions here.

Next, make sure you have the necessary tools installed:

   1 rosmake rviz rosbag tf

Finally, run the demo:

   1 roslaunch polar_scan_matcher demo.launch

You should see a result similar to the video below. The video shows PSM tracking the position of a Hokuyo laser as it is being carried freely around a room. The pose is determined entirely by the scan matcher - no additional odometry is provided.

Nodes

psm_node

The psm_node takes in sensor_msgs/LaserScan messages, performs scan registration, and outputs an estimate for the displacement of the robot.

Subscribed Topics

scan (sensor_msgs/LaserScan) imu (sensor_msgs/Imu)

Published Topics

pose2D (geometry_msgs/Pose2D)

Parameters

~world_frame (string, default: "world") ~base_frame (string, default: "base_link") ~publish_tf (bool, default: true) ~publish_pose (bool, default: true) ~odometry_type (string, default: "none") ~min_valid_points (int, default: 200) ~search_window (int, default: 40) ~max_error (double, default: 0.20) ~max_iterations (int, default: 20) ~stop_condition (double, default: 0.01)

Required tf Transforms

base_linklaser

Provided tf Transforms

worldbase_link

References

[1] A. Diosi and L. Kleeman, "Laser Scan Matching in Polar Coordinates with Application to SLAM " Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005, Edmonton, Canada

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports.

Please use our Trac to report bugs or request features.


2019-10-19 12:59