https://github.com/iris-ua/iris_lama_ros
Developed and maintained by Eurico Pedrosa, University of Aveiro (C) 2019.
ROS integration of LaMa, a Localization and Mapping package from the Intelligent Robotics and Systems (IRIS) Laboratory, University of Aveiro. It provides 2D Localization and SLAM. It works great on a TurtleBot2 with a Raspberry Pi 3 Model B+ and an Hokuyo (Rapid URG).
To build LaMa ROS, clone it from GitHub and use catkin to build.
mkdir src
cd src
git clone https://github.com/iris-ua/iris_lama
git clone https://github.com/iris-ua/iris_lama_ros
cd ..
catkin config --extend /opt/ros/melodic
catkin build
The build was tested in Ubuntu 18.04 with ROS melodic. It will not build with catkin_make or catkin_make_isolated.
To create a map using Online SLAM execute
rosrun iris_lama_ros slam2d_ros scan_topic:=base_scan
and to create a map using Particle Filter SLAM execute
rosrun iris_lama_ros pf_slam2d_ros scan_topic:=base_scan
Both nodes will publish to expected topics such as /map and /tf.
If you want to obtain a map from a rosbag and you want to save time (a lot), you can let iris_lama_ros "play" the rosbag for you.
roslaunch iris_lama_ros slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag
or
roslaunch iris_lama_ros pf_slam2d_offine.launch scan_topic:=base_scan rosbag:=/path/your/rosbag.bag
~global_frame_id: The frame attached to the map (default: "map").~odom_frame_id: The frame attached to the odometry system (default: "odometry").~base_frame_id: The frame attached to the mobile base (default: "base_link").~scan_topic: Laser scan topic to subscribe (default: "/scan").~initial_pos_x: Initial x position (default: 0 meters).~initial_pos_y: Initial y position (default: 0 meters).~initial_pos_a: Initial rotation (or angle) (default: 0 rad).~d_thresh: Traveled distance to accumulate before updating (default: 0.01 meters).~a_thresh: Angular motion to accumulate before updating (default: 0.25 rads).~l2_max: Maximum distance to use in the dynamic Euclidean distance map (default: 0.5 meters).~resolution: Resolution of the grid maps (default: 0.05 meters).~patch_size: Length of a patch (default: 32 cells).~strategy: Scan matching optimization strategy, gn or lm (default: "gn").~max_iterations: Maximum number of interations performed by the optimizer (default: 100)~use_compression: Should the maps be compressed (default: false).~compression_algorithm: Compression algorithm to use, lz4 or zstd (default: "lz4").~cache_size: Size of the LRU used during online data compression (default: 100).~mrange: Maximum laser scan range (default: 16 meters).~map_publish_period: How long between updates to the map (default: 5 seconds).
Particle Filter SLAM only:
~d_thresh: Traveled distance to accumulate before updating (default: 0.5 meters).~particles: Number of particles to use (default: 30).~seed: RNG seed value, use 0 for a random seed from device (default: 0)~threads: Number of working threads, -1 means disabled and 0 will expand to the available number of cores (default: -1).~sigma: Measurement variance (default: 0.05).~lgain: Gain value for smoothing the particles likelihood (default: 3.0).~srr: Odometry error in rotation as a function of rotation (default: 0.1).~str: Odometry error in rotation as a function of translation (default: 0.2).~stt: Odometry error in traslation as a function of translation (default: 0.1).~srt: Odometry error in translation as a funciton of rotation (default: 0.1).
This node requires the existence of the /static_map service to load the map.
To run the localization just execute
rosrun iris_lama_ros loc2d_ros scan:=base_scan
Please use rviz to set the initial pose. Global localization is not yet implemented.