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norlab_icp_mapper_ros package from norlab_icp_mapper_ros repo

norlab_icp_mapper_ros

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.1.0
License new BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/norlab-ulaval/norlab_icp_mapper_ros.git
VCS Type git
VCS Version ros2
Last Updated 2025-01-28
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

A bridge between norlab_icp_mapper and ROS.

Additional Links

No additional links.

Maintainers

  • Simon-Pierre Deschenes
  • Matej Boxan

Authors

No additional authors.
README.md

norlab_icp_mapper_ros

A bridge between norlab_icp_mapper and ROS. Check the mapper’s documentation for a detailed guide.

Node Parameters

Name Description Possible values Default Value
odom_frame Frame used for odometry. Any string “odom”
robot_frame Frame centered on the robot. Any string “base_link”
mapping_config Path to the file containing the mapping config. Any file path ””
initial_map_file_name Path of the file from which the initial map is loaded. Any file path ””
initial_robot_pose Transformation matrix in homogeneous coordinates describing the initial pose of the robot in the map frame. Any matrix of dimension 3 or 4 ”[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]”
final_map_file_name Path of the file in which the final map is saved when is_online is false. Any file path “map.vtk”
final_trajectory_file_name Path of the file in which the final trajectory is saved when is_online is false. Any file path “trajectory.vtk”
map_publish_rate Rate at which the map is published (in Hertz). It can be slower depending on the map update rate. (0, ∞) 10.0
map_tf_publish_rate Rate at which the map tf is published (in Hertz). (0, ∞) 10.0
max_idle_time Delay to wait being idle before shutting down ROS when is_online is false (in seconds). [0, ∞) 10.0
is_mapping true when map updates are wanted, false when only localization is wanted. {true, false} true
localizing true when localization updates are wanted, false when localization is unwanted (relocalization in map). {true, false} true
is_online true when online mapping is wanted, false otherwise. {true, false} true
is_3D true when a 3D sensor is used, false when a 2D sensor is used. {true, false} true
save_map_cells_on_hard_drive true when map cell storage on hard drive is wanted, false when map cell storage in RAM is wanted. {true, false} true
publish_tfs_between_registrations When false, the map tf is published only after registration. Otherwise with map_tf_publish_rate. {true, false} true
deskew Set to true if you want to apply motion compensation on the input point cloud. {true, false} true
expected_unique_deskewing_TF_number How much memory should we reserve for the per-point transformations. A positive integer 4000
deskewing_round_to_nanosecs How much should each point’s timestamp be rounded for deskewing transformation search. A positive integer 50000

Node Topics

Name Description
points_in Topic from which the input points are retrieved.
map Topic in which the map is published.
icp_odom Topic in which the corrected odometry is published.
scan_after_input_filters The input scan, after all input filters are applied.
scan_after_deskew The input scan, after all input filters and deskewing are applied.
pose_in Topic from which the pose is retrieved to relocalize.

Node Services

Name Description Parameter Name Parameter Description
save_map Saves the current map. filename Path of the file in which the map is saved.
save_trajectory Saves the current trajectory. filename Path of the file in which the trajectory is saved.
reload_yaml_config Reload the YAML config file.    
enable_mapping Enables the mapping (If localization is disabled, it enables it too).    
disable_mapping Disables the mapping.    
enable_loc Enables the localization.    
disable_loc Disables the localization (If mapping is enabled, it disables it too).    

Mapper Node Graph

flowchart LR

/mapper_node[ /mapper_node ]:::main

/points_in([ /points_in<br>sensor_msgs/msg/PointCloud2 ]):::bugged
/pose_in([ /pose_in<br>geometry_msgs/msg/PoseWithCovarianceStamped ]):::bugged
/icp_odom([ /icp_odom<br>nav_msgs/msg/Odometry ]):::bugged
/map([ /map<br>sensor_msgs/msg/PointCloud2 ]):::bugged
/scan_after_input_filters([ /map<br>sensor_msgs/msg/PointCloud2 ]):::bugged
/scan_after_deskew([ /map<br>sensor_msgs/msg/PointCloud2 ]):::bugged
/disable_mapping[/ /disable_mapping<br>std_srvs/srv/Empty \]:::bugged
/enable_mapping[/ /enable_mapping<br>std_srvs/srv/Empty \]:::bugged
/disable_loc[/ /disable_loc<br>std_srvs/srv/Empty \]:::bugged
/enable_loc[/ /enable_loc<br>std_srvs/srv/Empty \]:::bugged
/load_map[/ /load_map<br>norlab_icp_mapper_ros/srv/LoadMap \]:::bugged
/reload_yaml_config[/ /reload_yaml_config<br>std_srvs/srv/Empty \]:::bugged
/save_map[/ /save_map<br>norlab_icp_mapper_ros/srv/SaveMap \]:::bugged
/save_trajectory[/ /save_trajectory<br>norlab_icp_mapper_ros/srv/SaveTrajectory \]:::bugged

/points_in --> /mapper_node
/pose_in --> /mapper_node
/mapper_node --> /icp_odom
/mapper_node --> /map
/disable_mapping o-.-o /mapper_node
/enable_mapping o-.-o /mapper_node
/disable_loc o-.-o /mapper_node
/enable_loc o-.-o /mapper_node
/load_map o-.-o /mapper_node
/reload_yaml_config o-.-o /mapper_node
/save_map o-.-o /mapper_node
/save_trajectory o-.-o /mapper_node



subgraph keys[<b>Keys<b/>]
subgraph nodes[<b><b/>]
topicb((No connected)):::bugged
main_node[main]:::main
end
subgraph connection[<b><b/>]
node1[node1]:::node
node2[node2]:::node
node1 o-.-o|to server| service[/Service<br>service/Type\]:::service
service <-.->|to client| node2
node1 -->|publish| topic([Topic<br>topic/Type]):::topic
topic -->|subscribe| node2
node1 o==o|to server| action{{/Action<br>action/Type/}}:::action
action <==>|to client| node2
end
end
classDef node opacity:0.9,fill:#2A0,stroke:#391,stroke-width:4px,color:#fff
classDef action opacity:0.9,fill:#66A,stroke:#225,stroke-width:2px,color:#fff
classDef service opacity:0.9,fill:#3B8062,stroke:#3B6062,stroke-width:2px,color:#fff
classDef topic opacity:0.9,fill:#852,stroke:#CCC,stroke-width:2px,color:#fff
classDef main opacity:0.9,fill:#059,stroke:#09F,stroke-width:4px,color:#fff
classDef bugged opacity:0.9,fill:#933,stroke:#800,stroke-width:2px,color:#fff
style keys opacity:0.15,fill:#FFF
style nodes opacity:0.15,fill:#FFF
style connection opacity:0.15,fill:#FFF
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.

Launch files

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Messages

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Services

Plugins

No plugins found.

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