A bridge between norlab_icp_mapper and ROS.
Check the mapper's documentation for a detailed guide.
| 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 |
These parameters can be changed at runtime using the ROS parameter server.
| Name | Description | Possible values | Default Value |
|---|
| compression_voxel_size | Size of a voxel in the octree tree of the output map point cloud message. 0=disabled | A non-negative double | 0.5 |
| 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. |
| 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). | | |
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