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tuw_marker_filter: tuw_marker_noise | tuw_marker_server | tuw_marker_slam

Package Summary

The tuw_marker_slam package provides a framework for feature based SLAM implementations in ROS. Meanwhile a variant of EKF-SLAM is implemented.

Overview

tuw_marker_slam_node

This C++ ROS node implements the SLAM framework. It listens for commands executed by the vehicle for the prediction step and receives the detected markers for the update step. At the end of each SLAM cycle it publishes the currently explored marker map and the vehicles estimated pose in it. Furthermore a transformation from the established map to odom is provided.

Usage

rosrun tuw_marker_slam tuw_marker_slam_node

Examples

Start SLAM framework in EKF-SLAM mode with a predefined measurement noise model:

roslaunch tuw_marker_slam slam.launch

Start SLAM framework in EKF-SLAM mode with a predefined measurement noise model using the simulation environment Stage (https://github.com/tuw-robotics/stage_ros):

roslaunch tuw_marker_slam slam_demo_stage.launch

Start SLAM framework in EKF-SLAM mode with a predefined measurement noise model using the simulation environment Gazebo (https://github.com/tuw-robotics/tuw_gazebo) and the tuw_aruco marker detection

roslaunch tuw_marker_slam slam_demo_gazebo.launch

Node

Subscribed Topics

cmd (geometry_msgs/Twist) marker (marker_msgs/MarkerDetection)

Published Topics

xt (geometry_msgs/PoseWithCovarianceStamped) mt (marker_msgs/MarkerWithCovarianceArray)

Parameters

mode (int, default: 0) xzplane (boolean, default: false) frame_id_map (string, default: "map") frame_id_odom (string, default: "odom") frame_id_base (string, default: "base_link") beta_1/18 (double)

Required tf Transforms

baseodom <frame in which measurements are taken>base

Provided tf Transforms

mapodom

2019-12-07 13:15