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| Tags | No category tags. |
| Version | 3.0.0 |
| License | Copyright 2020-2024 OpenDR European Project Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/opendr-eu/opendr.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-01-29 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
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Package Description
Additional Links
Maintainers
- Jose Arce
Authors
FMP SLAM Evaluation
This module includes helper nodes and scripts, useful for characterizing and evaluating the results of some SLAM algorithms.
Nodes
err_collector
This node collects the translational, rotational and total errors computed by another node and stores them in CSV files.
Errors during the full-SLAM (mapping and localization) phase of a run are stored in one file, while (if used) errors measured during the Localization-Only phase are stored in a separate file.
Subscribed Topics
-
doLocOnly (std_msg/Bool):
When the Localization-Only phase is started and the doLocOnly message is issued, the node switches from saving to the mapping error file to the localization error file. -
tra_err (std_msg/Float64):
Translational error of the SLAM corrected pose with respect to the ground truth pose. -
rot_err (std_msg/Float64):
Rotational error of the SLAM corrected pose with respect to the ground truth pose. -
tot_err (std_msg/Float64):
Total (translational + rotational) error of the SLAM corrected pose with respect to the ground truth pose.
Parameters
-
~file_path (str, default: ”~/Desktop/Experiments”):
Directory where the files with the collected errors will be stored in a CSV format.Two files are constructed per run: a Mapping and a Localization-Only phase positional error files. The path to the files is constructed as follows:
<file_path>/<file_prefix><suffix>
where:
* ***\<file_prefix\>*** is another parameter, explained in the following entry, and
* ***\<suffix\>*** takes the value of either the *\<mapping\_suffix\>* or
*<localization\_suffix>* parameter depending on the phase of the evaluation.
-
~file_prefix (str, default: “error_data”):
Prefix for the file name of both the mapping error, and the localization-only error files. -
~mapping_suffix (str, default: “_map”):
Suffix for the Mapping Phase error file. -
~localization_suffix (str, default: “_loc”):
Suffix for the Localization-Only Phase error file.
fmp_plot
Node for plotting the Full Map Posterior distribution and its properties as color maps. Depending on the parameters, it can either save the plots to a directory, publish them to a topic, or both.
Subscribed Topics
-
map_model (gmapping/mapModel):
Message specifying whether the SLAM algorithm is using the Reflection or Exponential Decay Rate map model.The used measurement likelihood functions and the resulting Map Posterior Distribution will depend on this parameter.
The parametric, closed-form map posterior distribution will be either a Beta distribution (Beta(x; α, β)) for a Reflection Model, or a Gamma distribution (Gamma(x; α, β)) for Exponential Decay Rate model.
-
fmp_alpha (gmapping/doubleMap):
Map of the alpha parameter of the distribution (either Beta or Gamma according to the map_model setting). -
fmp_beta (gmapping/doubleMap):
Map of the beta parameter of the distribution (either Beta or Gamma according to the map_model setting).
Published Topics
If parameter ~pub_image is set to True, then the node will publish the computed map distribution properties as images under the topics:
-
/<pub_topic_prefix>/<\topic> (sensor_msgs/Image)
where:
- <pub_topic_prefix>: is a parameter determining the prefix to be used by all published topics.
-
<topic>: are the topic names for the different distribution properties that can be published, namely:
- stats/mean and stats/var: for the mean and variance of the map posterior.
- mlm: for the raw, un-thresholded most likely map
- param/alpha and param/beta: for publishing the distribution’s parameters as images.
Parameters
-
~img_stat (bool, default: False):
-
~img_mlm (bool, default: False):
-
~img_para (bool, default: False):
If set to true, generate the plots for the statistics (mean and variance), most-likely-map (raw, un-thresholded), and parameter (alpha and beta) respectively. -
~pub_img (bool, default: False):
Publish the generated plots as images if set to true. -
~pub_topic_prefix (str, default: “/fmp_img/”):
Prefix to be prepended to the published map plot topics. -
~save_img (bool, default: False):
Save the generated plots as image files if set to true. -
~resolution (int, default: 300):
Resolution (in ppi) for the saved images. -
~path_prefix (str, default: “exp”):
Prefix of the folder where the images are to be saved. Full folder name is constructed as_ , where is the time of execution formatted as *"yymmdd_HHMMSS"*, unless a full path is explicitly set under parameter ***~save_dir***. -
~save_dir (str, default: ”~/Desktop/FMP_img/<path_prefix>_<ts>“):
Full path where the images are going to be stored.
gt_mapping
Node for computing the reflection map by considering the odometry transformations and the sensor scans as noise-free without having to use a full SLAM stack. Maps are published either when the node is stopping, or by command using a genMap message.
This node is designed to make it easier to compare the map generated by a SLAM algorithm with a Ground Truth, or pure odometry map by using the same size, resolution and origin point.
Subscribed Topics
-
/map (nav_msgs/OccupancyGrid):
Map generated by a SLAM algorithm. Used for determining the map’s width, height, resolution and origin if not run as standalone node. -
endOfSim (std_msg/Bool):
Message signaling the end of a simulation. Used for stopping the node after all buffered scans have been processed and a map is published, in order to make it easier automate tests. -
genMap (std_msg/Bool):
Signal for manually forcing to publish a map with the data obtained so far, instead of waiting for the node to stop. -
doLocOnly (std_msg/Bool):
Signal that signifies that the SLAM algorithm will perform localization only, i.e. without updating its map, thus signaling this node to also not update the map with scans received after this message is received. -
/GT/base_scan (sensor_msgs/LaserScan):
LiDAR sensor measurements used for localization and map generation.
Published Topics
-
/GT/map (nav_msgs/OccupancyGrid):
Map generated by considering the poses and measurements as noise-free.
Parameters
-
~map_frame (str, default: “map”):
-
~ref_frame (str, default: “map”):
TF Frames for where to place the map’s origin and the reference frame for the sensor respectively. -
~max_scan_buffer_len (int, default: 1000):
Maximum size of the buffer holding unprocessed scans, i.e. scans received before receiving a map message to determine the map’s resolution in case not set to standalone. -
~occ_threshold (float, default: 0.25):
Threshold value for establishing the value of each cell as either free or occupied. Only values in [0, 1] allowed. -
~standalone (bool, default: False):
If set to true, then the node will not take the size, resolution or origin from another map message. -
~resolution (float, default: 0.05):
Grid cell size in meters. Only used if ~standalone is set to true.
occ_map_saver
Simple node for saving published Occupancy Maps to image files.
Subscribed Topics
-
/map (nav_msgs/OccupancyGrid):
Map to be saved to disc in .png format.
Parameters
-
~path_prefix (str, default: “map”):
Name of the directory where the map images are going to be saved. Appended to the execution timestamp unless a full path is explicitly set in ~save_dir. -
~file_prefix (str, default: “map”):
Name of the image files that are going to be saved. A sequence number will be appended to this prefix to construct the full filename. -
~save_dir (str, default: ”~/Desktop/OccMap/<ts>_<path_prefix>“):
Explicit path to the save directory.
odom_pose
Node for taking the noisy poses, and outputting them under a different transform tree in order to visualize the pure odometry (i.e. uncorrected) movements. Although useful, it is preferred to replicate the pure odometry transforms and scans directly within the ROSBag for better overall performance.
Subscribed Topics
-
tf (tf2_msgs/TFMessage):
Transform messages. Used to determine when a transform has been published between the configured coordinate frames, instead of constantly polling for transforms.
Published Topics
-
tf (tf2_msgs/TFMessage):
Publishes the same transformations under a tree with prefix ~frame_prefix and a static, identity transform between the ~map_frame and the ~odom_frame as the pure-odometry transformations.
Parameters
-
~map_frame (str, default: “map”):
-
~odom_frame (str, default: “odom”):
Name of the ROS TF Frames for the map and odometry coordinate frames respectively. -
~frame_list (str, default: “[base_link, laser_link]”):
Comma-separated list of ROS TF Frames to filter the TF Messages with (along with the ~odom_frame), and to republish under the new TF Tree with prefix ~frame_prefix. -
~frame_prefix (str, default: “odo”):
Prefix to be added to the ROS TF Frames configured in the ~frame_list (and ~odom_frame). E.g. for an existing frame base_link a new one will be created called odo/base_link and the noisy, dynamic transforms will be replicated for it.
pose_error_calc
Node for computing the translational, rotational and total error of a given pose with respect to the ground truth pose.
Suscribed Topics
-
tf (tf2_msgs/TFMessage):
Transform messages. Used to determine when a transform has been published between the configured coordinate frames, instead of constantly polling for transforms. -
doLocOnly (std_msgs/Bool):
When received, if set to log errors to a file, it will create a new, separate file for the errors of the Localization-Only phase.
Published Topics
If set to publish the errors, the following messages will be output.
-
tra_err (std_msgs/Float64):
-
rot_err (std_msgs/Float64):
-
tot_err (std_msgs/Float64):
Translational, rotational and total errors in relation to the ground truth respectively.
Parameters
-
~lambda (float, default: 0.1):
Weight for the rotational error to compute the total error as: ε_tot = ε_tra + λ · ε_rot -
~pub_err (bool, default: True):
Publish the translational, rotational and total errors if set to true. -
~log_err (bool, default: True):
Save the translational, rotational and total errors to a file if set to true. -
~map_frame (str, default: “map”):
Main reference frame to compare the corrected and ground truth poses from. -
~odom_frame (str, default: “odom”):
-
~base_frame (str, default: “base_link”):
Odometry and Robot base coordinate frames for the corrected poses respectively. -
~gt_odom_frame (str, default: “GT/odom”):
-
~gt_base_frame (str, default: “GT/base_link”):
Odometry and Robot base coordinate frames for the ground truth poses respectively. -
~log_dir (str, default: ”~/Desktop/FMP_logs”):
Path to the directory in which to store the pose error log files. -
~err_prefix (str, default: “pose_err”):
Prefix for automatically constructed filenames. Generated files will be called <err_prefix><suffix><ts>.csv, where <ts> is the execution time in the format yymmdd_HHMMSS and <suffix> is either an empty string for errors during full-SLAM phase, or _loc during Localization-Only phase. -
~err_file (str, default: ”<~log_dir>/<~err_prefix>_<ts>.csv”):
-
~loc_err_file (str, default: ”<~log_dir>/<err_prefix>_loc_<ts>.csv”):
Path to the pose error files during Full-SLAM and Localization-Only phases respectively. - ~newline (str, default: “\n”):
-
~delim (str, default: ”,”):
Row and column delimiters for the csv file.
Scripts
err_curves.py
Script that reads the pose error files stored in a directory and generates curves with error bars.
Usage:
foo@bar:dir$ err_curves.py [-d <dir>] [-x <extension>] [-o <out_dir>] [-m <max_exps>]
Arguments:
-
dir (str, default: ”~/Desktop/Experiments/MethodComparison/err”):
Directory where the pose error log files to be plotted are stored. -
extension (str, default: “csv”):
Extension of the pose error files to be plotted. Used for filtering in case other files are present in the directory. -
out_dir (str, default: ”<~dir>/errbar”):
Directory where the error plots are to be saved. -
max_eps (int, default: 0):
Maximum number of experiments to take into consideration for plotting the error curves. Used for limiting the ammount of data used for cases where the number of experiments varies a lot. If set to 0, then all experiments will be used for plotting.
err_histograms.py
Script for generating histograms from the pose error files.
Usage:
foo@bar:dir$ err_histograms.py [-d <dir>] [-x <extension>] [-o <out_dir>] [-c <combine_by>]
Arguments:
-
dir (str, default: ”~/Desktop/Experiments/MethodComparison/err”):
Directory where the pose error log files to be plotted are stored. -
extension (str, default: “csv”):
Extension of the pose error files to be plotted. Used for filtering in case other files are present in the directory. -
out_dir (str, default: ”<~dir>/hist”):
Directory where the error histograms are to be saved. -
combine_by (str, default: “map_model”):
Field by which to group the histograms with. Valid values are:- “n_moves” number of measurement steps.
- “m_model” map models.
- “p_weight” particle weighting methods.
- “imp_pose” pose improve methods.
- “err_type” error types.
- “test_env” test environments.
method_comparison.py
Script for running experiments multiple times in order to capture statistical information using the simulated 10Loop datasets. It will run the algorithm for every possible combination of configured steps, map models, particle weighting methods, and pose improvement methods for a given number of iterations.
Usage:
foo@bar:dir$ method_comparison.py [-i <iterations] [-m <moves>] [-mm <map_models>] [-pw <particle_weights>] [-pi <pose_improve>] [-f <launch file>] [-mp <multi_proc>] [-w <num_workers>] [-p <path>]
Arguments:
-
iterations (int, default: 100):
Number of times to run each experiment. -
moves (str, default: “20,30,40,50,60,70,80,90,100,120,140,160,180,200,240,270,300”):
Comma-separated list of number of moves to run the tests with. Valid ROSBags must exist for each of the selected moves. -
map_models (str, default: “ref,dec”):
Comma-separated list of map model types. Supported values are:- ref for the Reflection Model.
- dec for the Exponential Decay Rate Model.
-
particle_weights (str, default: “cmh,ml”):
Coma-separated list of particle weighting methods. Supported values are:- cmh for Closest Mean Hit Likelihood, the original GMapping method.
- ml for the Full Map Posterior Measurement Likelihood method.
-
pose_improve (bool, default: False):
If true, then the pose proposal distribution will be improved using scan matching. -
launch_file (string, default: ”$(find fmp_slam_eval)/launch/experiment.launch”):
Path to the launch file to be executed mutliple times. -
multi_proc (bool, default: True):
Run multiple processes in parallel if set to true. -
num_workers (int, default: -1):
Number of workers or processes to execute in parallel if ~multi_proc is set to True. A value of -1 means to use as many workers as the number of CPU cores available. -
path (str, default: ”~/Desktop/Experiments/MethodComparison”):
Path where the results will be saved.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| gmapping | |
| catkin | |
| map_simulator |
System Dependencies
Dependant Packages
Launch files
- launch/test_computeR.launch
-
- cfg_rviz_file [default: $(arg path_cfg_rviz)/experiment.rviz] — (string)[Default: $(find map_simulator)/cfg/rviz/experiment.rviz] Path to an RVIZ configuration file.
- bag_file [default: $(arg path_data)/Simulations/Robot_CellTest_det_8ray.bag]
- launch/experiment_real_data.launch
-
- do_slam [default: true] — (bool)[Default: true] Run the OpenSlam Gmapping Node.
- do_plots [default: true] — (bool)[Default: true] Run the fmp_plot and occ_map_saver nodes to save the statistical and occupation plots of the map.
- do_error [default: false] — (bool)[Default: true] Run the pose_error_calc node to save each pose and the relative error of the SLAM corrected pose w.r.t the ground-truth pose.
- do_gtmap [default: false] — (bool)[Default: true] Run the gt_mapping node for generating the Ground-Truth map.
- do_odo [default: false] — (bool)[Default: true] Run the gt_mapping node for generation the Pure Odometry map.
- do_rviz [default: true] — (bool)[Default: true] Run RVIZ to visualize the progress graphically in real time.
- do_gsp_debug [default: true] — (bool)[Default: true] Output all of the GridSlam Processor data to a csv file.
- do_coll_err [default: false] — (bool)[Default: false] Collect error values from multiple runs in a single csv file.
- bag [default: 10Loop] — (string)[Default: 10Loop] Bag file to be opened. If a specific file is to be desired, use the bag_file argument. Can take values of: * 10Loop: for the 10Loop Simulation ROSBag * 10Cell: for the 10Cell Simulation ROSBag
- mm [default: ref] — (string)[Default: ref] Map Model. Can take values of * ref for Reflection Map or * dec for Exponential Decay Map.
- pw [default: cmh] — (string)[Default: cmh] Particle weighting method. Can take values of * cmh for Closest Mean Hit, * fsm for Forward Sensor Model and * ml for Measurement Likelihood.
- alpha0 [default: 1.0] — (float)[Default: 1.0] Value for the alpha parameter of the prior distribution.
- beta0 [default: $(eval 0.000001 if mm_dcy else 1.0)] — (float)[Default: 1 for Ref, 1e-6 for Dec] Value for the beta parameter of the prior distribution.
- exp_pfx [default: exp] — (string)[Default: exp] Prefix for the experiment directory.
- resolution [default: 0.2] — (float)[Default: 0.05] Map resolution in [m].
- occ_threshold [default: 0.25] — (float)[Default: 0.25] Threshold for determining whether a cell is occupied or free.
- ocuw [default: 0.2] — (float)[Default: 0.0] Weight of a Uniform Distribution to be added to the measurement likelihoods to avoid overconfidence
- doPoseImprove [default: false] — (bool)[Default: true] Run scan matching for pose improvement if true.
- publishAvgPose [default: false] — (bool)[Default: true] Use weighted average pose over all particles instead of only the most likely.
- sim_pause [default: false] — (bool)[Default: false] Start the ROSbag in a paused state. Recommended to allow for the other nodes to initialize.
- sim_quiet [default: false] — (bool)[Default: false] Run the ROSbag quietly.
- cfg_rviz_file [default: $(arg path_cfg_rviz)/experiment.rviz] — (string)[Default: $(find map_simulator)/cfg/rviz/experiment.rviz] Path to an RVIZ configuration file.
- ts [default: 880910_052410] — (string)[Default: 880910_052410] Timestamp to be used for the save directory. It should be set to ts:=`date +'%Y%M%D_%h%m%s'`
- pfx_mm [default: $(eval 'dec' if mm_dcy else 'rfl')]
- pfx_pw [default: $(eval 'fsm' if pw_fsm else ('ml' if pw_ml else 'cmh'))]
- path_prefix [default: $(env HOME)/Desktop/Experiments/IndividualExperiments] — Main directory where experiment sub-folders will be created
- path_save [default: $(arg path_prefix)/$(arg exp_pfx)_$(arg ts)_$(arg pfx_mm)_$(arg pfx_pw)] — (string)[Default: ~/Desktop/Experiments/IndividualExperiments/${exp_pfx}_${ts}_${pfx_mm}_${pfx_pw}/] Path for saving the experiment results.
- path_log [default: $(arg path_save)/log] — (string)[Default: ${path_save}/log] Path for storing the nodes' logs.
- path_save_img [default: $(arg path_save)/img] — (string)[Default: ${path_save}/img] Path for storing the result images.
- path_save_occ [default: $(arg path_save)/img/occ] — (string)[Default: ${path_save}/img/occ] Path for storing the result occupancy images.
- path_save_err [default: $(arg path_save)/err] — (string)[Default: ${path_save}/err] Path for storing the pose error file.
- path_err_coll_path [default: $(arg path_save)/err] — (string)[Default: ${path_save}/err] Path for storing the accumulated pose error file.
- path_err_coll_pfx [default: err_coll] — (string)[Default: err_coll] Prefix for the collected error file names.
- bag_file [default: $(arg path_data)/Freiburg/101/fr101.raw.2.bag] — (string)[Default: path to either Robot_10Loop or Robot_10Cell bags depending on $bag] Explicit path to ROSBag to execute if neither 10Loop nor 10Cell are desired.
- launch/experiment.launch
-
- do_slam [default: true] — (bool)[Default: true] Run the OpenSlam Gmapping Node.
- do_plots [default: false] — (bool)[Default: true] Run the fmp_plot and occ_map_saver nodes to save the statistical and occupation plots of the map.
- do_error [default: true] — (bool)[Default: true] Run the pose_error_calc node to save each pose and the relative error of the SLAM corrected pose w.r.t the ground-truth pose.
- do_gtmap [default: true] — (bool)[Default: true] Run the gt_mapping node for generating the Ground-Truth map.
- do_odo [default: true] — (bool)[Default: true] Run the gt_mapping node for generation the Pure Odometry map.
- do_rviz [default: true] — (bool)[Default: true] Run RVIZ to visualize the progress graphically in real time.
- do_gsp_debug [default: true] — (bool)[Default: true] Output all of the GridSlam Processor data to a csv file.
- do_coll_err [default: false] — (bool)[Default: false] Collect error values from multiple runs in a single csv file.
- mm [default: dec] — (string)[Default: ref] Map Model. Can take values of * ref for Reflection Map or * dec for Exponential Decay Map.
- pw [default: cmh] — (string)[Default: cmh] Particle weighting method. Can take values of * cmh for Closest Mean Hit, * fsm for Forward Sensor Model and * ml for Measurement Likelihood.
- alpha0 [default: 1.0] — (float)[Default: 1.0] Value for the alpha parameter of the prior distribution.
- beta0 [default: $(eval 0.000001 if mm_dcy else 1.0)] — (float)[Default: 1 for Ref, 1e-6 for Dec] Value for the beta parameter of the prior distribution.
- exp_pfx [default: exp] — (string)[Default: exp] Prefix for the experiment directory.
- resolution [default: 0.05] — (float)[Default: 0.05] Map resolution in [m].
- occ_threshold [default: 0.25] — (float)[Default: 0.25] Threshold for determining whether a cell is occupied or free.
- ocuw [default: 0.0] — (float)[Default: 0.0] Weight of a Uniform Distribution to be added to the measurement likelihoods to avoid overconfidence
- doPoseImprove [default: true] — (bool)[Default: true] Run scan matching for pose improvement if true.
- publishAvgPose [default: true] — (bool)[Default: true] Use weighted average pose over all particles instead of only the most likely.
- sim_pause [default: false] — (bool)[Default: false] Start the ROSbag in a paused state. Recommended to allow for the other nodes to initialize.
- sim_quiet [default: false] — (bool)[Default: false] Run the ROSbag quietly.
- cfg_rviz_file [default: $(arg path_cfg_rviz)/default.rviz] — (string)[Default: $(find map_simulator)/cfg/rviz/experiment.rviz] Path to an RVIZ configuration file.
- ts [default: 880910_052410] — (string)[Default: 880910_052410] Timestamp to be used for the save directory. It should be set to ts:=`date +'%Y%M%D_%h%m%s'`
- pfx_mm [default: $(eval 'dec' if mm_dcy else 'rfl')]
- pfx_pw [default: $(eval 'fsm' if pw_fsm else ('ml' if pw_ml else 'cmh'))]
- path_prefix [default: $(env HOME)/Desktop/Experiments/IndividualExperiments] — Main directory where experiment sub-folders will be created
- path_save [default: $(arg path_prefix)/$(arg exp_pfx)_$(arg ts)_$(arg pfx_mm)_$(arg pfx_pw)] — (string)[Default: ~/Desktop/Experiments/IndividualExperiments/${exp_pfx}_${ts}_${pfx_mm}_${pfx_pw}/] Path for saving the experiment results.
- path_log [default: $(arg path_save)/log] — (string)[Default: ${path_save}/log] Path for storing the nodes' logs.
- path_save_img [default: $(arg path_save)/img] — (string)[Default: ${path_save}/img] Path for storing the result images.
- path_save_occ [default: $(arg path_save)/img/occ] — (string)[Default: ${path_save}/img/occ] Path for storing the result occupancy images.
- path_save_err [default: $(arg path_save)/err] — (string)[Default: ${path_save}/err] Path for storing the pose error file.
- path_err_coll_path [default: $(arg path_save)/err] — (string)[Default: ${path_save}/err] Path for storing the accumulated pose error file.
- path_err_coll_pfx [default: err_coll] — (string)[Default: err_coll] Prefix for the collected error file names.
- bag_file [default: $(find map_simulator)/rosbags/Robot_10Loop_noisy_3_2pi_180rays.bag] — (string)[Default: path to simulated Robot_10Loop rosbag] Explicit path to ROSBag to execute if 10Loop is not desired.
- launch/gt_map.launch
-
- ts — (string)[Default: 880910_052410] Timestamp to be used for the save directory. It should be set to ts:=`date +'%Y%M%D_%h%m%s'`
- occ_threshold [default: 0.25] — (float)[Default: 0.25] Threshold for determining whether a cell is occupied or free.
- max_scan_buffer_len [default: 10000] — (int)[Default: 10000] Maximum size for the scan buffer.
- resolution [default: 0.2] — (float)[Default: 0.2] Map resolution in [m].
- do_rviz [default: true] — (bool)[Default: true] Run RVIZ to visualize the progress graphically in real time.
- sim_pause [default: false] — (bool)[Default: false] Start the ROSbag in a paused state. Recommended to allow for the other nodes to initialize.
- sim_quiet [default: false] — (bool)[Default: false] Run the ROSbag quietly.
- path_save [default: $(env HOME)/Desktop/Experiments/DataSetGT/$(arg ts)] — (string)[Default: ~/Desktop/Experiments/DataSetGT/] Path for saving the experiment results.
- path_save_occ [default: $(arg path_save)/img/occ] — (string)[Default: ${path_save}/img/occ] Path for storing the result occupancy images.
- cfg_rviz_file [default: $(arg path_cfg_rviz)/gt_map.rviz] — (string)[Default: $(find map_simulator)/cfg/rviz/experiment.rviz] Path to an RVIZ configuration file.
- bag_file [default: $(arg path_data)/Freiburg/079/fr079-complete.gfs.2.bag] — (string)[Default: path to either Robot_10Loop or Robot_10Cell bags depending on $bag] Explicit path to ROSBag to execute if neither 10Loop nor 10Cell are desired.