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mrpt_graphslam_2d:Add to ini config files, instructions #23

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merged 14 commits into from
Jun 13, 2017
Merged

mrpt_graphslam_2d:Add to ini config files, instructions #23

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e76fb1a
mrpt-graphslam_2d:Add using directives when needed
bergercookie May 29, 2017
7bda307
mrpt-graphslam:Remove deprecated .ini argument
bergercookie Jun 6, 2017
c19202f
mrpt_graphslam:Add rviz file for 4 agents
bergercookie Jun 6, 2017
57d0ef5
mrpt-graphslam:Modify parameters of mr-slam .ini file
bergercookie Jun 7, 2017
2ea2f61
mrpt_graphslam_2d:Correct sr_graphslam_demo_gt execution
bergercookie Jun 7, 2017
6463951
mrpt_graphslam_2d:Add initial setup and instructions for running mr-s…
bergercookie Jun 7, 2017
1ebbc72
mrpt_graphslam_2d:Finish configuration for mr-slam with rosbags
bergercookie Jun 8, 2017
9f8aeba
mrpt_graphslam_2d:CGraphSlamEngine_MR to have its own struct for conf…
bergercookie Jun 8, 2017
b741b68
mrpt_graphslam_2d:Have .ini file specifically for gazebo simulations
bergercookie Jun 8, 2017
27295dc
mrpt_graphslam_2d:Tweak config for real-time usage
bergercookie Jun 8, 2017
8a845fc
mrpt_graphslam_2d:Update graphslam_real_2.rviz file
bergercookie Jun 8, 2017
1957fa9
mrpt_graphslam_2d:Add to the instructions for running graphSLAM from …
bergercookie Jun 13, 2017
abad167
mrpt_graphslam_2d:Use template files and python script to generate rv…
bergercookie Jun 13, 2017
9ceff9a
mrpt_graphslam_2d:Fix broken links in README
bergercookie Jun 13, 2017
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mrpt_graphslam_2d:Tweak config for real-time usage
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@bergercookie
bergercookie committed Jun 13, 2017
commit 27295dcadea250bef178a4a802eb4a82f88b9830
6 changes: 3 additions & 3 deletions mrpt_graphslam_2d/config/ros_odometry_2DRangeScans_LC_MR_real.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -58,9 +58,9 @@ class_verbosity = 1

use_scan_matching = true // strongly suggested that this is set to TRUE
;ICP_goodness_thresh = 0.80 // threshold for accepting the ICP constraint in the graph
prev_nodes_for_ICP = 5
prev_nodes_for_ICP = 10
LC_eigenvalues_ratio_thresh = 2
LC_min_remote_nodes = 3 // how many out "remote" nodes should exist in a partition for the partition to be examined for potential loop closures
LC_min_remote_nodes = 2 // how many out "remote" nodes should exist in a partition for the partition to be examined for potential loop closures
LC_check_curr_partition_only = true

consec_icp_constraint_factor = 0.96
Expand Down Expand Up @@ -89,7 +89,7 @@ useMapMatching = true
[OptimizerParameters]

/ optimization_on_second_thread = false
optimization_distance = 0.4;
optimization_distance = 3.0;
;optimization_distance = -1 // optimize whole graph every time.

// Levenberg-Marquardt parameters
Expand Down
26 changes: 12 additions & 14 deletions mrpt_graphslam_2d/rviz/graphslam_real_1.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -12,12 +12,10 @@ Panels:
- /Image1
- /Map1
- /Axes1
- /Axes2
- /estim_pose1
- /estim_pose1/Status1
- /odom_path1
Splitter Ratio: 0.5
Tree Height: 477
Tree Height: 693
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand Down Expand Up @@ -118,7 +116,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Value: false
- Class: rviz/Image
Enabled: true
Image Topic: /nickkoukubuntu/onboard_camera/image_raw
Expand Down Expand Up @@ -152,7 +150,7 @@ Visualization Manager:
Axes Radius: 0.1
Class: rviz/Pose
Color: 255; 25; 0
Enabled: false
Enabled: true
Head Length: 0.3
Head Radius: 0.1
Name: estim_pose
Expand All @@ -161,7 +159,7 @@ Visualization Manager:
Shape: Arrow
Topic: /nickkoukubuntu/feedback/robot_position
Unreliable: false
Value: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Expand Down Expand Up @@ -208,16 +206,16 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 3.4002
Distance: 14.7136
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.397505
Y: -2.73194
Z: 1.58828
X: -0.505443
Y: 0.239488
Z: 0.237929
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.8654
Expand All @@ -228,12 +226,12 @@ Visualization Manager:
Window Geometry:
Displays:
collapsed: false
Height: 1027
Height: 1401
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000360fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000410000026c000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002b3000000ee0000001600ffffff000000010000010f00000360fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004100000360000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000028400fffffffb0000000800540069006d00650100000000000004500000000000000000000004fb0000036000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001ee000004b9fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002c00000365000000f200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000003970000014e0000002700ffffff000000010000015b000004b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002c000004b9000000dd00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000005efc0100000002fb0000000800540069006d0065010000000000000a000000042f00fffffffb0000000800540069006d00650100000000000004500000000000000000000006ab000004b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -242,6 +240,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1920
Width: 2560
X: 0
Y: 31
Y: 39