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ike_localization package from ike_nav repoike_controller ike_costmap_2d ike_launch ike_localization ike_map_server ike_nav ike_nav_msgs ike_nav_parameters ike_nav_rviz_plugins ike_nav_server ike_planner ike_waypoint_follower |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | LGPL |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/uhobeike/ike_nav.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-12-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The ike_localization package
Additional Links
No additional links.
Maintainers
- Tatsuhiro Ikebe
Authors
No additional authors.
ike_localization
Package overview
Monte Carlo localization1のROS 2 C++実装です。
2次元地図nav_msgs/OccupancyGrid、2次元センサ情報sensor_msgs/LaserScan、移動ロボットのオドメトリ情報tf2_msgs/TFMessageから、2次元地図上での自己位置geometry_msgs/PoseStampedを推定します。
Input / Output
Input
| Name（Topic） | Type | Description |
|---|---|---|
/map |
nav_msgs::msg::OccupancyGrid |
map_serverから受け取る2次元地図 |
/scan |
sensor_msgs::msg::LaserScan |
ロボットから得られる2次元スキャンデータ |
/initialpose |
geometry_msgs::msg::PoseWithCovarianceStamped |
自己位置推定のための初期値 |
Output
| Name（Topic） | Type | Description |
|---|---|---|
/likelihood_map |
nav_msgs::msg::OccupancyGrid |
尤度場 |
/particle_cloud |
nav2_msgs::msg::ParticleCloud |
パーティクル群群 |
/mcl_pose |
geometry_msgs::msg::PoseStamped |
パーティクル全体の平均姿勢 |
/marginal_likelihood |
std_msgs::msg::Float32 |
周辺尤度 |
/scan_match_point |
visualization_msgs::msg::MarkerArray |
各パーティクルのスキャンと尤度場のマッチポイント |
Parameters
| Name（Parameter） | Type | Description |
|---|---|---|
map_frame |
std::string |
マップ座標系 |
odom_frame |
std::string |
オドメトリ座標系 |
robot_frame |
std::string |
ロボット座標系 |
particle_size |
int |
パーティクルの最大数 |
alpha_trans_trans |
double |
直進で生じる直進の誤差 |
alpha_trans_rotate |
double |
直進で生じる回転の誤差 |
alpha_rotate_trans |
double |
回転で生じる直線の誤差 |
alpha_rotate_rotate |
double |
回転で生じる回転の誤差 |
likelihood_dist |
double |
尤度場距離 |
loop_mcl_hz |
double |
MClの周期 |
publish_particles_scan_match_point |
bool |
各パーティクルのスキャンと尤度場のマッチポイントの可視化（可視化すると、見応えがあるが非常に重い処理） |
Reference
- 動作モデル
-
https://github.com/ros-planning/navigation2/blob/ef4de1527997c3bd813afe0c6296ff65e05700e0/nav2_amcl/src/motion_model/differential_motion_model.cpp#L57-L61
-
https://github.com/ros-planning/navigation2/blob/ef4de1527997c3bd813afe0c6296ff65e05700e0/nav2_amcl/src/motion_model/differential_motion_model.cpp#L75-L80
-
- マップ座標系からオドメトリ座標系への変換
- https://github.com/ros-planning/navigation2/blob/ef4de1527997c3bd813afe0c6296ff65e05700e0/nav2_amcl/src/amcl_node.cpp#L975-L1016
- ros-planning/navigation2/nav2_amcl
- 『詳解 確率ロボティクス ― Pythonによる基礎アルゴリズムの実装 ―』講談社〈KS理工学専門書〉、2019年、ISBN 978-406-51-7006-9
- 『確率ロボティクス』 上田隆一 訳、毎日コミュニケーションズ〈MYCOM ROBOT books〉、2007年、ISBN 9784839924010。（プレミアムブック版 ISBN 978-483-99-5298-3）
LICENSE
動作モデルとtf周りでnavigation2/nav2_amcl を参考にした箇所があるためGPL v3.0ライセンスとなっています。
Citation
-
Jens-Steffen Gutmann and Dieter Fox: ‘‘An Experimental Comparison of Localization Methods Continued,’’ Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.~454-459, 2002. ↩
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| ike_controller | |
| ike_launch | |
| ike_nav | |
| ike_nav_server |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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