├── .gitignore ├── AUTHORS ├── cartographer_magazino.rosinstall ├── scripts ├── check_access_token.sh ├── catkin_test_results.sh ├── ros_entrypoint.sh ├── prepare_catkin_workspace.sh ├── install_debs.sh ├── load_docker_cache.sh ├── save_docker_cache.sh └── install.sh ├── cartographer_toru ├── configuration_files │ ├── highres.lua │ ├── mapping.lua │ ├── imu.lua │ ├── toru_compile.lua │ ├── toru.lua │ ├── toru_localization.lua │ ├── toru_simulation.lua │ ├── assets_writer_toru.lua │ ├── localization.lua │ ├── toru_base.lua │ ├── demo_light.rviz │ └── demo.rviz ├── launch │ ├── demo_toru_simulation.launch │ ├── assets_writer_toru.launch │ ├── toru.launch │ ├── toru_simulation.launch │ ├── offline_toru_2d.launch │ └── demo_toru_localization.launch ├── package.xml ├── cartographer_toru │ └── configuration_files_test.cc └── CMakeLists.txt ├── .travis.yml ├── Dockerfile.indigo ├── Dockerfile.kinetic ├── README.rst └── LICENSE /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | 3 | .vscode/ 4 | -------------------------------------------------------------------------------- /AUTHORS: -------------------------------------------------------------------------------- 1 | # This is the list of Cartographer authors for copyright purposes. 2 | # 3 | # This does not necessarily list everyone who has contributed code, since in 4 | # some cases, their employer may be the copyright holder. To see the full list 5 | # of contributors, see the revision history in source control. 6 | Google Inc. 7 | Magazino GmbH 8 | -------------------------------------------------------------------------------- /cartographer_magazino.rosinstall: -------------------------------------------------------------------------------- 1 | - git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git'} 2 | - git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git'} 3 | - git: {local-name: cartographer_magazino, uri: 'https://github.com/magazino/cartographer_magazino.git'} 4 | - git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.12.0'} 5 | -------------------------------------------------------------------------------- /scripts/check_access_token.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # Usage: ./check_access_token.sh ACCESS_TOKEN 4 | # Returns non-zero exit code if ACCESS_TOKEN is invalid. 5 | 6 | if [ "$#" -ne 1 ]; then 7 | echo "Please provide an access token to $0" 1>&2 8 | exit 1 9 | fi 10 | token=$1 11 | 12 | set -e 13 | function on_error { 14 | echo "Failed to validate GitHub access token!" 1>&2 15 | exit 1 16 | } 17 | trap on_error ERR 18 | 19 | test_response=$(curl -s https://api.github.com/?access_token=${token}) 20 | 21 | echo $test_response | grep -ivq "bad credentials" 22 | echo $"GitHub access token is valid." 23 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/highres.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.025 16 | TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.min_num_points = 400 17 | -------------------------------------------------------------------------------- /scripts/catkin_test_results.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # Copyright 2016 The Cartographer Authors 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | set -o errexit 18 | set -o verbose 19 | 20 | . /opt/ros/${ROS_DISTRO}/setup.sh 21 | . /opt/cartographer_ros/setup.sh 22 | 23 | cd catkin_ws 24 | 25 | catkin_test_results $@ 26 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/mapping.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | POSE_GRAPH.constraint_builder.max_constraint_distance = 1.5 16 | POSE_GRAPH.constraint_builder.sampling_ratio = 0.5 17 | POSE_GRAPH.global_sampling_ratio = 0.2 18 | POSE_GRAPH.optimize_every_n_nodes = 50 19 | -------------------------------------------------------------------------------- /scripts/ros_entrypoint.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # Copyright 2016 The Cartographer Authors 4 | # 2018 Magazino GmbH 5 | # 6 | # Licensed under the Apache License, Version 2.0 (the "License"); 7 | # you may not use this file except in compliance with the License. 8 | # You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, software 13 | # distributed under the License is distributed on an "AS IS" BASIS, 14 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | # See the License for the specific language governing permissions and 16 | # limitations under the License. 17 | 18 | set -o errexit 19 | set -o verbose 20 | 21 | source "/opt/ros/${ROS_DISTRO}/setup.bash" 22 | source "/opt/cartographer_ros/setup.bash" 23 | source "/opt/cartographer_magazino/setup.bash" 24 | exec "$@" 25 | -------------------------------------------------------------------------------- /scripts/prepare_catkin_workspace.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # Copyright 2016 The Cartographer Authors 4 | # 2018 Magazino GmbH 5 | # 6 | # Licensed under the Apache License, Version 2.0 (the "License"); 7 | # you may not use this file except in compliance with the License. 8 | # You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, software 13 | # distributed under the License is distributed on an "AS IS" BASIS, 14 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | # See the License for the specific language governing permissions and 16 | # limitations under the License. 17 | 18 | set -o errexit 19 | set -o verbose 20 | 21 | . /opt/ros/${ROS_DISTRO}/setup.sh 22 | 23 | # Create a new workspace in 'catkin_ws'. 24 | mkdir catkin_ws 25 | cd catkin_ws 26 | wstool init src 27 | ln -s /cartographer_magazino src/ 28 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/imu.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | options.provide_odom_frame = true 16 | options.published_frame = "base_footprint" 17 | 18 | TRAJECTORY_BUILDER_2D.use_imu_data = true 19 | TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = false 20 | TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(1.) 21 | -------------------------------------------------------------------------------- /scripts/install_debs.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # Copyright 2016 The Cartographer Authors 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | set -o errexit 18 | set -o verbose 19 | 20 | . /opt/ros/${ROS_DISTRO}/setup.sh 21 | . /opt/cartographer_ros/setup.sh 22 | 23 | cd catkin_ws 24 | 25 | apt-get update 26 | 27 | # Install rosdep dependencies. 28 | rosdep update 29 | rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y 30 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/toru_compile.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | if toru.use_imu then 16 | include "imu.lua" 17 | end 18 | 19 | if toru.use_3d then 20 | include "3d.lua" 21 | end 22 | 23 | if toru.highres then 24 | include "highres.lua" 25 | end 26 | 27 | if toru.localization then 28 | include "localization.lua" 29 | else 30 | include "mapping.lua" 31 | end 32 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/toru.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | include "map_builder.lua" 16 | include "trajectory_builder.lua" 17 | 18 | include "toru_base.lua" 19 | 20 | toru = { 21 | use_3d = false, -- Currently not supported in public integrations. 22 | use_imu = true, 23 | localization = false, 24 | highres = true, 25 | } 26 | include "toru_compile.lua" 27 | 28 | return options 29 | -------------------------------------------------------------------------------- /scripts/load_docker_cache.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # Copyright 2016 The Cartographer Authors 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | # Cache intermediate Docker layers. For a description of how this works, see: 18 | # https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html 19 | 20 | set -o errexit 21 | set -o verbose 22 | set -o pipefail 23 | 24 | if [ -f ${DOCKER_CACHE_FILE} ]; then 25 | gunzip -c ${DOCKER_CACHE_FILE} | docker load; 26 | fi 27 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/toru_localization.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | include "map_builder.lua" 16 | include "trajectory_builder.lua" 17 | 18 | include "toru_base.lua" 19 | 20 | toru = { 21 | use_3d = false, -- Currently not supported in public integrations. 22 | use_imu = true, 23 | localization = true, 24 | highres = true, 25 | } 26 | include "toru_compile.lua" 27 | 28 | return options 29 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/toru_simulation.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | include "map_builder.lua" 16 | include "trajectory_builder.lua" 17 | 18 | include "toru_base.lua" 19 | 20 | toru = { 21 | use_3d = false, -- Currently not supported in public integrations. 22 | use_imu = true, 23 | localization = false, 24 | highres = true, 25 | } 26 | include "toru_compile.lua" 27 | 28 | return options 29 | -------------------------------------------------------------------------------- /cartographer_toru/launch/demo_toru_simulation.launch: -------------------------------------------------------------------------------- 1 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 26 | 27 | -------------------------------------------------------------------------------- /cartographer_toru/launch/assets_writer_toru.launch: -------------------------------------------------------------------------------- 1 | 17 | 18 | 19 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/assets_writer_toru.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | options = { 16 | tracking_frame = "base_footprint", 17 | pipeline = { 18 | { 19 | action = "min_max_range_filter", 20 | min_range = 0.3, 21 | max_range = 5., 22 | }, 23 | 24 | { 25 | action = "dump_num_points", 26 | }, 27 | 28 | -- The points in the PLY can be visualized using 29 | -- https://github.com/googlecartographer/point_cloud_viewer. 30 | { 31 | action = "write_ply", 32 | filename = "points.ply", 33 | } 34 | 35 | } 36 | } 37 | 38 | return options 39 | -------------------------------------------------------------------------------- /scripts/save_docker_cache.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # Copyright 2016 The Cartographer Authors 4 | # 2018 Magazino GmbH 5 | # 6 | # Licensed under the Apache License, Version 2.0 (the "License"); 7 | # you may not use this file except in compliance with the License. 8 | # You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, software 13 | # distributed under the License is distributed on an "AS IS" BASIS, 14 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | # See the License for the specific language governing permissions and 16 | # limitations under the License. 17 | 18 | # Cache intermediate Docker layers. For a description of how this works, see: 19 | # https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html 20 | 21 | set -o errexit 22 | set -o verbose 23 | set -o pipefail 24 | 25 | if [[ ${TRAVIS_BRANCH} == "master" ]] && 26 | [[ ${TRAVIS_PULL_REQUEST} == "false" ]]; then 27 | mkdir -p $(dirname ${DOCKER_CACHE_FILE}); 28 | IMAGE_NAMES=$(docker history -q cartographer_magazino:${ROS_RELEASE} | grep -v '') 29 | docker save ${IMAGE_NAMES} | gzip > ${DOCKER_CACHE_FILE}.new 30 | mv ${DOCKER_CACHE_FILE}.new ${DOCKER_CACHE_FILE} 31 | fi 32 | -------------------------------------------------------------------------------- /cartographer_toru/launch/toru.launch: -------------------------------------------------------------------------------- 1 | 17 | 18 | 19 | 25 | 26 | 27 | 28 | 29 | 30 | 32 | -------------------------------------------------------------------------------- /cartographer_toru/launch/toru_simulation.launch: -------------------------------------------------------------------------------- 1 | 17 | 18 | 19 | 25 | 26 | 27 | 28 | 29 | 30 | 32 | 33 | -------------------------------------------------------------------------------- /scripts/install.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # Copyright 2016 The Cartographer Authors 4 | # 2018 Magazino GmbH 5 | # 6 | # Licensed under the Apache License, Version 2.0 (the "License"); 7 | # you may not use this file except in compliance with the License. 8 | # You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, software 13 | # distributed under the License is distributed on an "AS IS" BASIS, 14 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | # See the License for the specific language governing permissions and 16 | # limitations under the License. 17 | 18 | set -o errexit 19 | set -o verbose 20 | 21 | . /opt/ros/${ROS_DISTRO}/setup.sh 22 | . /opt/cartographer_ros/setup.sh 23 | 24 | cd catkin_ws 25 | 26 | # Build, install, and test. 27 | # 28 | # It's necessary to use the '--install' flag for every call to 29 | # 'catkin_make_isolated' in order to avoid the use of 'devel_isolated' as the 30 | # 'CMAKE_INSTALL_PREFIX' for non-test targets. This in itself is important to 31 | # avoid any issues caused by using 'CMAKE_INSTALL_PREFIX' during the 32 | # configuration phase of the build (e.g. cartographer/common/config.h.cmake). 33 | export BUILD_FLAGS="--use-ninja --install-space /opt/cartographer_magazino --install" 34 | catkin_make_isolated ${BUILD_FLAGS} $@ 35 | -------------------------------------------------------------------------------- /cartographer_toru/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 18 | 19 | 20 | cartographer_toru 21 | 0.1.1 22 | 23 | Cartographer configurations and launch files for Magazino TORU robots. 24 | 25 | 26 | Michael Grupp 27 | 28 | Apache 2.0 29 | 30 | https://github.com/magazino 31 | 32 | catkin 33 | 34 | g++-static 35 | 36 | cartographer_ros 37 | message_runtime 38 | roscpp 39 | roslib 40 | 41 | rosunit 42 | 43 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/localization.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | TRAJECTORY_BUILDER.pure_localization_trimmer = { 16 | max_submaps_to_keep = 3, 17 | } 18 | 19 | TRAJECTORY_BUILDER_2D.max_range = 8. 20 | TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5. 21 | TRAJECTORY_BUILDER_2D.submaps.num_range_data = 22 | 2 * TRAJECTORY_BUILDER_2D.submaps.num_range_data 23 | 24 | POSE_GRAPH.global_sampling_ratio = .005 25 | POSE_GRAPH.optimize_every_n_nodes = 2 26 | POSE_GRAPH.global_constraint_search_after_n_seconds = 60 27 | 28 | POSE_GRAPH.constraint_builder.min_score = .4 29 | POSE_GRAPH.constraint_builder.global_localization_min_score = .35 30 | POSE_GRAPH.constraint_builder.max_constraint_distance = 2. 31 | POSE_GRAPH.constraint_builder.sampling_ratio = 0.2 32 | 33 | POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.linear_search_window = 0.3 34 | POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.angular_search_window = math.rad(5.0) 35 | -------------------------------------------------------------------------------- /cartographer_toru/cartographer_toru/configuration_files_test.cc: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2016 The Cartographer Authors 3 | * 2018 Magazino GmbH 4 | * 5 | * Licensed under the Apache License, Version 2.0 (the "License"); 6 | * you may not use this file except in compliance with the License. 7 | * You may obtain a copy of the License at 8 | * 9 | * http://www.apache.org/licenses/LICENSE-2.0 10 | * 11 | * Unless required by applicable law or agreed to in writing, software 12 | * distributed under the License is distributed on an "AS IS" BASIS, 13 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | * See the License for the specific language governing permissions and 15 | * limitations under the License. 16 | */ 17 | 18 | #include 19 | #include 20 | 21 | #include "cartographer_ros/node_options.h" 22 | #include "gtest/gtest.h" 23 | #include "ros/package.h" 24 | 25 | namespace cartographer_ros { 26 | namespace { 27 | 28 | class ConfigurationFilesTest : public ::testing::TestWithParam {}; 29 | 30 | TEST_P(ConfigurationFilesTest, ValidateNodeOptions) { 31 | EXPECT_NO_FATAL_FAILURE({ 32 | LoadOptions( 33 | ::ros::package::getPath("cartographer_toru") + "/configuration_files", 34 | GetParam()); 35 | }); 36 | } 37 | 38 | INSTANTIATE_TEST_CASE_P(ValidateAllNodeOptions, ConfigurationFilesTest, 39 | ::testing::Values("toru.lua", 40 | "toru_simulation.lua", 41 | "toru_localization.lua")); 42 | 43 | } // namespace 44 | } // namespace cartographer_ros 45 | -------------------------------------------------------------------------------- /cartographer_toru/launch/offline_toru_2d.launch: -------------------------------------------------------------------------------- 1 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 26 | 27 | 28 | 37 | 38 | 39 | 40 | 41 | 42 | -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- 1 | # Copyright 2016 The Cartographer Authors 2 | # 2018 Magazino GmbH 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | sudo: required 17 | services: docker 18 | 19 | # Cache intermediate Docker layers. For a description of how this works, see: 20 | # https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html 21 | cache: 22 | directories: 23 | - /home/travis/docker/ 24 | 25 | env: 26 | - ROS_RELEASE=indigo DOCKER_CACHE_FILE=/home/travis/docker/indigo-cache.tar.gz 27 | - ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz 28 | 29 | before_install: 30 | - scripts/check_access_token.sh $GITHUB_TOKEN 31 | - scripts/load_docker_cache.sh 32 | 33 | install: true 34 | script: 35 | - git clone https://github.com/googlecartographer/cartographer_ros.git 36 | - docker build cartographer_ros -t cartographer_ros:${ROS_RELEASE} -f cartographer_ros/Dockerfile.${ROS_RELEASE} --build-arg github_token=${GITHUB_TOKEN} 37 | - rm -rf cartographer_ros 38 | - docker build ${TRAVIS_BUILD_DIR} -t cartographer_magazino:${ROS_RELEASE} -f Dockerfile.${ROS_RELEASE} --build-arg github_token=${GITHUB_TOKEN} 39 | - scripts/save_docker_cache.sh 40 | -------------------------------------------------------------------------------- /Dockerfile.indigo: -------------------------------------------------------------------------------- 1 | # Copyright 2016 The Cartographer Authors 2 | # 2018 Magazino GmbH 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | FROM cartographer_ros:indigo 17 | 18 | # We require a GitHub access token to be passed. 19 | ARG github_token 20 | 21 | # First, we invalidate the entire cache if googlecartographer/cartographer_ros has 22 | # changed. This file's content changes whenever master changes. See: 23 | # http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone 24 | ADD https://api.github.com/repos/googlecartographer/cartographer_ros/git/refs/heads/master?access_token=$github_token \ 25 | cartographer_magazino/cartographer_ros_version.json 26 | 27 | COPY . cartographer_magazino 28 | 29 | # Build TORU's package. 30 | RUN cartographer_magazino/scripts/prepare_catkin_workspace.sh 31 | RUN cartographer_magazino/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/* 32 | RUN cartographer_magazino/scripts/install.sh --pkg cartographer_toru && \ 33 | cartographer_magazino/scripts/install.sh --pkg cartographer_toru \ 34 | --catkin-make-args run_tests && \ 35 | cartographer_magazino/scripts/catkin_test_results.sh build_isolated/cartographer_toru 36 | 37 | COPY scripts/ros_entrypoint.sh / 38 | # A BTRFS bug may prevent us from cleaning up these directories. 39 | # https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory 40 | RUN rm -rf cartographer_magazino catkin_ws || true 41 | -------------------------------------------------------------------------------- /Dockerfile.kinetic: -------------------------------------------------------------------------------- 1 | # Copyright 2016 The Cartographer Authors 2 | # 2018 Magazino GmbH 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | FROM cartographer_ros:kinetic 17 | 18 | # We require a GitHub access token to be passed. 19 | ARG github_token 20 | 21 | # First, we invalidate the entire cache if googlecartographer/cartographer_ros has 22 | # changed. This file's content changes whenever master changes. See: 23 | # http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone 24 | ADD https://api.github.com/repos/googlecartographer/cartographer_ros/git/refs/heads/master?access_token=$github_token \ 25 | cartographer_magazino/cartographer_ros_version.json 26 | 27 | COPY . cartographer_magazino 28 | 29 | # Install TORU's package. 30 | RUN cartographer_magazino/scripts/prepare_catkin_workspace.sh 31 | RUN cartographer_magazino/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/* 32 | RUN cartographer_magazino/scripts/install.sh --pkg cartographer_toru && \ 33 | cartographer_magazino/scripts/install.sh --pkg cartographer_toru \ 34 | --catkin-make-args run_tests && \ 35 | cartographer_magazino/scripts/catkin_test_results.sh build_isolated/cartographer_toru 36 | 37 | COPY scripts/ros_entrypoint.sh / 38 | # A BTRFS bug may prevent us from cleaning up these directories. 39 | # https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory 40 | RUN rm -rf cartographer_magazino catkin_ws || true 41 | -------------------------------------------------------------------------------- /cartographer_toru/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Copyright 2016 The Cartographer Authors 2 | # 2018 Magazino GmbH 3 | # 4 | # Licensed under the Apache License, Version 2.0 (the "License"); 5 | # you may not use this file except in compliance with the License. 6 | # You may obtain a copy of the License at 7 | # 8 | # http://www.apache.org/licenses/LICENSE-2.0 9 | # 10 | # Unless required by applicable law or agreed to in writing, software 11 | # distributed under the License is distributed on an "AS IS" BASIS, 12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | # See the License for the specific language governing permissions and 14 | # limitations under the License. 15 | 16 | cmake_minimum_required(VERSION 2.8.12) # Ships with Ubuntu 14.04 (Trusty) 17 | 18 | project(cartographer_toru) 19 | 20 | set(PACKAGE_DEPENDENCIES 21 | cartographer_ros 22 | roscpp 23 | roslib 24 | ) 25 | 26 | find_package(cartographer REQUIRED) 27 | include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake") 28 | google_initialize_cartographer_project() 29 | google_enable_testing() 30 | 31 | find_package(LuaGoogle REQUIRED) 32 | 33 | find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES}) 34 | 35 | # Override Catkin's GTest configuration to use GMock. 36 | set(GTEST_FOUND TRUE) 37 | set(GTEST_INCLUDE_DIRS ${GMOCK_INCLUDE_DIRS}) 38 | set(GTEST_LIBRARIES ${GMOCK_LIBRARIES}) 39 | 40 | catkin_package(CATKIN_DEPENDS message_runtime ${PACKAGE_DEPENDENCIES}) 41 | 42 | if (CATKIN_ENABLE_TESTING) 43 | catkin_add_gtest(configuration_files_test "cartographer_toru/configuration_files_test.cc") 44 | # catkin_add_gtest uses a plain (i.e. no PUBLIC/PRIVATE/INTERFACE) call to 45 | # target_link_libraries. That forces us to do the same. 46 | target_include_directories(configuration_files_test SYSTEM PUBLIC ${LUA_INCLUDE_DIR}) 47 | target_link_libraries(configuration_files_test ${LUA_LIBRARIES}) 48 | target_include_directories(configuration_files_test SYSTEM PUBLIC ${catkin_INCLUDE_DIRS}) 49 | target_link_libraries(configuration_files_test ${catkin_LIBRARIES}) 50 | add_dependencies(configuration_files_test ${catkin_EXPORTED_TARGETS}) 51 | target_link_libraries(configuration_files_test cartographer) 52 | set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}") 53 | set_target_properties(configuration_files_test PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS}) 54 | endif() 55 | 56 | install(DIRECTORY launch configuration_files 57 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 58 | ) 59 | -------------------------------------------------------------------------------- /cartographer_toru/launch/demo_toru_localization.launch: -------------------------------------------------------------------------------- 1 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 38 | 40 | 41 | 42 | 43 | 45 | 50 | 51 | 52 | 54 | 55 | 56 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/toru_base.lua: -------------------------------------------------------------------------------- 1 | -- Copyright 2018 Magazino GmbH 2 | -- 3 | -- Licensed under the Apache License, Version 2.0 (the "License"); 4 | -- you may not use this file except in compliance with the License. 5 | -- You may obtain a copy of the License at 6 | -- 7 | -- http://www.apache.org/licenses/LICENSE-2.0 8 | -- 9 | -- Unless required by applicable law or agreed to in writing, software 10 | -- distributed under the License is distributed on an "AS IS" BASIS, 11 | -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | -- See the License for the specific language governing permissions and 13 | -- limitations under the License. 14 | 15 | options = { 16 | map_builder = MAP_BUILDER, 17 | trajectory_builder = TRAJECTORY_BUILDER, 18 | map_frame = "map", 19 | tracking_frame = "base_footprint", 20 | published_frame = "odom", 21 | odom_frame = "odom", 22 | provide_odom_frame = false, 23 | publish_frame_projected_to_2d = true, 24 | use_odometry = true, 25 | use_nav_sat = false, 26 | use_landmarks = false, 27 | num_laser_scans = 2, 28 | num_multi_echo_laser_scans = 0, 29 | num_subdivisions_per_laser_scan = 16, 30 | num_point_clouds = 0, 31 | lookup_transform_timeout_sec = 0.2, 32 | submap_publish_period_sec = 0.3, 33 | pose_publish_period_sec = 5e-3, 34 | trajectory_publish_period_sec = 0.1, 35 | rangefinder_sampling_ratio = 1., 36 | odometry_sampling_ratio = 1., 37 | fixed_frame_pose_sampling_ratio = 1., 38 | imu_sampling_ratio = .5, 39 | landmarks_sampling_ratio = 1., 40 | } 41 | 42 | MAP_BUILDER.use_trajectory_builder_2d = true 43 | MAP_BUILDER.num_background_threads = 4 44 | TRAJECTORY_BUILDER_2D.use_imu_data = false 45 | 46 | TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.05 47 | TRAJECTORY_BUILDER_2D.submaps.num_range_data = 48 | 1.0 * TRAJECTORY_BUILDER_2D.submaps.num_range_data 49 | TRAJECTORY_BUILDER_2D.max_range = 8. 50 | TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5. 51 | 52 | TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 60 53 | TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.05 54 | TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 55 | options.num_laser_scans * options.num_subdivisions_per_laser_scan 56 | 57 | TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true 58 | TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = .05 59 | TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(4.) 60 | 61 | TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 15 62 | TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 0.5 63 | 64 | POSE_GRAPH.optimization_problem.huber_scale = 5 65 | POSE_GRAPH.constraint_builder.min_score = .6 66 | 67 | POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight = 1e5 68 | POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 1e4 69 | POSE_GRAPH.optimization_problem.odometry_translation_weight = 1e5 70 | POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1e1 71 | -------------------------------------------------------------------------------- /README.rst: -------------------------------------------------------------------------------- 1 | .. Copyright 2016 The Cartographer Authors 2 | 2018 Magazino GmbH 3 | 4 | .. Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | 8 | .. http://www.apache.org/licenses/LICENSE-2.0 9 | 10 | .. Unless required by applicable law or agreed to in writing, software 11 | distributed under the License is distributed on an "AS IS" BASIS, 12 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | See the License for the specific language governing permissions and 14 | limitations under the License. 15 | 16 | ================================================ 17 | Cartographer ROS for Magazino Robotics Platforms 18 | ================================================ 19 | 20 | |build| |license| 21 | 22 | Purpose 23 | ======= 24 | 25 | `Cartographer`_ is a system that provides real-time simultaneous localization 26 | and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor 27 | configurations. This repository provides Cartographer SLAM for `Magazino 28 | Robotics`_ platforms via `Cartographer ROS`_. This is a simplified integration 29 | for testing and evaluation purposes only. 30 | 31 | .. _Cartographer: https://github.com/googlecartographer/cartographer 32 | .. _Cartographer ROS: https://github.com/googlecartographer/cartographer_ros 33 | .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping 34 | .. _Magazino Robotics: https://www.magazino.eu/?lang=en 35 | 36 | Documentation 37 | ============= 38 | 39 | Dependencies 40 | ------------ 41 | 42 | We keep the master branch of this repository compatible with the latest 43 | revision of the `cartographer_ros`_ repository. 44 | 45 | Release versions of this repository can be found here: `Releases`_. 46 | They are tagged according to the version number of the matching release version 47 | of ``cartographer_ros``. 48 | 49 | .. _cartographer_ros: https://github.com/googlecartographer/cartographer_ros 50 | .. _Releases: https://github.com/magazino/cartographer_magazino/releases 51 | 52 | Data 53 | ---- 54 | 55 | We currently support bagfiles recorded on Magazino TORU robots. Support for 56 | other platforms like SOTO may be added in the future. 57 | 58 | Download links for the public datasets of Magazino robots can be found on the 59 | `Cartographer ROS Read the Docs site`_. 60 | 61 | .. _Cartographer ROS Read the Docs site: https://google-cartographer-ros.readthedocs.io/en/latest/data.html#magazino 62 | 63 | 64 | TORU 65 | ==== 66 | 67 | We provide two sample datasets for mapping and localization that were 68 | recorded in a hallway. 69 | 70 | Run the simulation demo (mapping) with the hallway dataset: 71 | 72 | .. code-block:: bash 73 | 74 | cd data # (where you stored the bagfiles) 75 | roslaunch cartographer_toru demo_toru_simulation.launch bag_filename:=$(pwd)/hallway_return.bag playback_rate:=2 76 | 77 | Use the ``write_state`` ROS service to serialize the state to a ``.pbstream`` file: 78 | 79 | .. code-block:: bash 80 | 81 | rosservice call /write_state "{filename: '$PWD/hallway_return.bag.pbstream', include_unfinished_submaps: true}" 82 | 83 | If realistic timing is not critical, you can also use the faster offline node: 84 | 85 | .. code-block:: bash 86 | 87 | roslaunch cartographer_toru offline_toru_2d.launch bag_filenames:=$(pwd)/hallway_return.bag 88 | 89 | Run the localization demo: 90 | 91 | .. code-block:: bash 92 | 93 | roslaunch cartographer_toru demo_toru_localization.launch load_state_filename:=$(pwd)/hallway_return.bag.pbstream bag_filename:=$(pwd)/hallway_localization.bag 94 | 95 | .. |build| image:: https://travis-ci.org/magazino/cartographer_magazino.svg?branch=master 96 | :target: https://travis-ci.org/magazino/cartographer_magazino 97 | .. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg 98 | :alt: Apache 2 license. 99 | :scale: 100% 100 | :target: https://github.com/magazino/cartographer_magazino/blob/master/LICENSE 101 | 102 | About Magazino 103 | ============== 104 | 105 | Magazino is a robotics start-up based in Munich, Germany. 106 | We develop and build perception-controlled, mobile robots for intralogistics. 107 | `We are hiring`_! 108 | 109 | A video of TORU robots in action at one of our German customers: 110 | 111 | .. raw:: html 112 | 113 |
114 | 115 | Pick-by-Robot: warehouse automation with Magazino at FIEGE Logistik 119 | 120 |
121 | 122 | .. _We are hiring: https://www.magazino.eu/jobs-2/?lang=en 123 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/demo_light.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /MarkerArray2/Namespaces1 8 | Splitter Ratio: 0.600670993 9 | Tree Height: 775 10 | - Class: rviz/Selection 11 | Name: Selection 12 | - Class: rviz/Tool Properties 13 | Expanded: 14 | - /2D Pose Estimate1 15 | - /2D Nav Goal1 16 | - /Publish Point1 17 | Name: Tool Properties 18 | Splitter Ratio: 0.588679016 19 | - Class: rviz/Views 20 | Expanded: 21 | - /Current View1 22 | Name: Views 23 | Splitter Ratio: 0.5 24 | - Class: rviz/Time 25 | Experimental: false 26 | Name: Time 27 | SyncMode: 0 28 | SyncSource: PointCloud2 29 | Visualization Manager: 30 | Class: "" 31 | Displays: 32 | - Alpha: 0.5 33 | Cell Size: 1 34 | Class: rviz/Grid 35 | Color: 160; 160; 164 36 | Enabled: false 37 | Line Style: 38 | Line Width: 0.0299999993 39 | Value: Lines 40 | Name: Grid 41 | Normal Cell Count: 0 42 | Offset: 43 | X: 0 44 | Y: 0 45 | Z: 0 46 | Plane: XY 47 | Plane Cell Count: 100 48 | Reference Frame: 49 | Value: false 50 | - Class: rviz/TF 51 | Enabled: true 52 | Frame Timeout: 15 53 | Frames: 54 | All Enabled: true 55 | base_footprint: 56 | Value: true 57 | map: 58 | Value: true 59 | odom: 60 | Value: true 61 | Marker Scale: 1 62 | Name: TF 63 | Show Arrows: true 64 | Show Axes: true 65 | Show Names: true 66 | Tree: 67 | map: 68 | odom: 69 | base_footprint: 70 | {} 71 | Update Interval: 0 72 | Value: true 73 | - Alpha: 1 74 | Class: rviz/RobotModel 75 | Collision Enabled: false 76 | Enabled: true 77 | Links: 78 | All Links Enabled: true 79 | Expand Joint Details: false 80 | Expand Link Details: false 81 | Expand Tree: false 82 | Link Tree Style: Links in Alphabetic Order 83 | Name: RobotModel 84 | Robot Description: robot_description 85 | TF Prefix: "" 86 | Update Interval: 0 87 | Value: true 88 | Visual Enabled: true 89 | - Class: Submaps 90 | Enabled: false 91 | Fade-out distance: 1 92 | High Resolution: true 93 | Low Resolution: false 94 | Name: Submaps 95 | Submap query service: /submap_query 96 | Submaps: 97 | All: true 98 | Topic: /submap_list 99 | Tracking frame: base_link 100 | Unreliable: false 101 | Value: false 102 | - Alpha: 1 103 | Autocompute Intensity Bounds: true 104 | Autocompute Value Bounds: 105 | Max Value: 10 106 | Min Value: -10 107 | Value: true 108 | Axis: Z 109 | Channel Name: intensity 110 | Class: rviz/PointCloud2 111 | Color: 0; 255; 0 112 | Color Transformer: FlatColor 113 | Decay Time: 0 114 | Enabled: true 115 | Invert Rainbow: false 116 | Max Color: 255; 255; 255 117 | Max Intensity: 4096 118 | Min Color: 0; 0; 0 119 | Min Intensity: 0 120 | Name: PointCloud2 121 | Position Transformer: XYZ 122 | Queue Size: 10 123 | Selectable: true 124 | Size (Pixels): 3 125 | Size (m): 0.0500000007 126 | Style: Flat Squares 127 | Topic: /scan_matched_points2 128 | Unreliable: false 129 | Use Fixed Frame: true 130 | Use rainbow: true 131 | Value: true 132 | - Class: rviz/MarkerArray 133 | Enabled: false 134 | Marker Topic: /trajectory_node_list 135 | Name: MarkerArray 136 | Namespaces: 137 | {} 138 | Queue Size: 100 139 | Value: false 140 | - Class: rviz/MarkerArray 141 | Enabled: true 142 | Marker Topic: /constraint_list 143 | Name: MarkerArray 144 | Namespaces: 145 | Inter constraints, different trajectories: true 146 | Inter constraints, same trajectory: true 147 | Inter residuals, different trajectories: true 148 | Inter residuals, same trajectory: true 149 | Intra constraints: true 150 | Intra residuals: true 151 | Queue Size: 100 152 | Value: true 153 | - Alpha: 0.699999988 154 | Class: rviz/Map 155 | Color Scheme: map 156 | Draw Behind: false 157 | Enabled: true 158 | Name: Map 159 | Topic: /map 160 | Unreliable: false 161 | Use Timestamp: false 162 | Value: true 163 | Enabled: true 164 | Global Options: 165 | Background Color: 100; 100; 100 166 | Default Light: true 167 | Fixed Frame: map 168 | Frame Rate: 30 169 | Name: root 170 | Tools: 171 | - Class: rviz/Interact 172 | Hide Inactive Objects: true 173 | - Class: rviz/MoveCamera 174 | - Class: rviz/Select 175 | - Class: rviz/FocusCamera 176 | - Class: rviz/Measure 177 | - Class: rviz/SetInitialPose 178 | Topic: /initialpose 179 | - Class: rviz/SetGoal 180 | Topic: /move_base_simple/goal 181 | - Class: rviz/PublishPoint 182 | Single click: true 183 | Topic: /clicked_point 184 | Value: true 185 | Views: 186 | Current: 187 | Angle: 0 188 | Class: rviz/TopDownOrtho 189 | Enable Stereo Rendering: 190 | Stereo Eye Separation: 0.0599999987 191 | Stereo Focal Distance: 1 192 | Swap Stereo Eyes: false 193 | Value: false 194 | Invert Z Axis: false 195 | Name: Current View 196 | Near Clip Distance: 0.00999999978 197 | Scale: 100 198 | Target Frame: base_footprint 199 | Value: TopDownOrtho (rviz) 200 | X: 0 201 | Y: 0 202 | Saved: ~ 203 | Window Geometry: 204 | Displays: 205 | collapsed: false 206 | Height: 1056 207 | Hide Left Dock: false 208 | Hide Right Dock: false 209 | QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007470000003efc0100000002fb0000000800540069006d00650100000000000007470000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004c20000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 210 | Selection: 211 | collapsed: false 212 | Time: 213 | collapsed: false 214 | Tool Properties: 215 | collapsed: false 216 | Views: 217 | collapsed: false 218 | Width: 1863 219 | X: 57 220 | Y: 24 221 | -------------------------------------------------------------------------------- /cartographer_toru/configuration_files/demo.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /MarkerArray2/Namespaces1 8 | Splitter Ratio: 0.600670993 9 | Tree Height: 775 10 | - Class: rviz/Selection 11 | Name: Selection 12 | - Class: rviz/Tool Properties 13 | Expanded: 14 | - /2D Pose Estimate1 15 | - /2D Nav Goal1 16 | - /Publish Point1 17 | Name: Tool Properties 18 | Splitter Ratio: 0.588679016 19 | - Class: rviz/Views 20 | Expanded: 21 | - /Current View1 22 | Name: Views 23 | Splitter Ratio: 0.5 24 | - Class: rviz/Time 25 | Experimental: false 26 | Name: Time 27 | SyncMode: 0 28 | SyncSource: PointCloud2 29 | Visualization Manager: 30 | Class: "" 31 | Displays: 32 | - Alpha: 0.5 33 | Cell Size: 1 34 | Class: rviz/Grid 35 | Color: 160; 160; 164 36 | Enabled: false 37 | Line Style: 38 | Line Width: 0.0299999993 39 | Value: Lines 40 | Name: Grid 41 | Normal Cell Count: 0 42 | Offset: 43 | X: 0 44 | Y: 0 45 | Z: 0 46 | Plane: XY 47 | Plane Cell Count: 100 48 | Reference Frame: 49 | Value: false 50 | - Class: rviz/TF 51 | Enabled: true 52 | Frame Timeout: 15 53 | Frames: 54 | All Enabled: true 55 | base_footprint: 56 | Value: true 57 | map: 58 | Value: true 59 | odom: 60 | Value: true 61 | Marker Scale: 1 62 | Name: TF 63 | Show Arrows: true 64 | Show Axes: true 65 | Show Names: true 66 | Tree: 67 | map: 68 | odom: 69 | base_footprint: 70 | {} 71 | Update Interval: 0 72 | Value: true 73 | - Alpha: 1 74 | Class: rviz/RobotModel 75 | Collision Enabled: false 76 | Enabled: true 77 | Links: 78 | All Links Enabled: true 79 | Expand Joint Details: false 80 | Expand Link Details: false 81 | Expand Tree: false 82 | Link Tree Style: Links in Alphabetic Order 83 | Name: RobotModel 84 | Robot Description: robot_description 85 | TF Prefix: "" 86 | Update Interval: 0 87 | Value: true 88 | Visual Enabled: true 89 | - Class: Submaps 90 | Enabled: true 91 | Fade-out distance: 1 92 | High Resolution: true 93 | Low Resolution: false 94 | Name: Submaps 95 | Submap query service: /submap_query 96 | Submaps: 97 | All: true 98 | Trajectory 0: 99 | 0.90: true 100 | 1.90: true 101 | 10.90: true 102 | 11.90: true 103 | 12.90: true 104 | 13.90: true 105 | 14.90: true 106 | 15.90: true 107 | 16.90: true 108 | 17.90: true 109 | 18.90: true 110 | 19.90: true 111 | 2.90: true 112 | 20.90: true 113 | 21.90: true 114 | 22.90: true 115 | 23.90: true 116 | 24.90: true 117 | 25.90: true 118 | 26.90: true 119 | 27.90: true 120 | 28.90: true 121 | 29.90: true 122 | 3.90: true 123 | 30.90: true 124 | 31.90: true 125 | 32.90: true 126 | 33.90: true 127 | 34.90: true 128 | 35.90: true 129 | 36.90: true 130 | 37.90: true 131 | 38.90: true 132 | 39.90: true 133 | 4.90: true 134 | 40.90: true 135 | 41.90: true 136 | 42.90: true 137 | 43.90: true 138 | 44.90: true 139 | 45.90: true 140 | 46.90: true 141 | 47.90: true 142 | 48.90: true 143 | 49.90: true 144 | 5.90: true 145 | 50.90: true 146 | 51.90: true 147 | 52.90: true 148 | 53.90: true 149 | 54.71: true 150 | 55.26: true 151 | 6.90: true 152 | 7.90: true 153 | 8.90: true 154 | 9.90: true 155 | Value: true 156 | Trajectory 1: 157 | 0.244: true 158 | 1.64: true 159 | Value: true 160 | Topic: /submap_list 161 | Tracking frame: base_link 162 | Unreliable: false 163 | Value: true 164 | - Alpha: 1 165 | Autocompute Intensity Bounds: true 166 | Autocompute Value Bounds: 167 | Max Value: 10 168 | Min Value: -10 169 | Value: true 170 | Axis: Z 171 | Channel Name: intensity 172 | Class: rviz/PointCloud2 173 | Color: 0; 255; 0 174 | Color Transformer: FlatColor 175 | Decay Time: 0 176 | Enabled: true 177 | Invert Rainbow: false 178 | Max Color: 255; 255; 255 179 | Max Intensity: 4096 180 | Min Color: 0; 0; 0 181 | Min Intensity: 0 182 | Name: PointCloud2 183 | Position Transformer: XYZ 184 | Queue Size: 10 185 | Selectable: true 186 | Size (Pixels): 3 187 | Size (m): 0.0500000007 188 | Style: Flat Squares 189 | Topic: /scan_matched_points2 190 | Unreliable: false 191 | Use Fixed Frame: true 192 | Use rainbow: true 193 | Value: true 194 | - Class: rviz/MarkerArray 195 | Enabled: true 196 | Marker Topic: /trajectory_node_list 197 | Name: MarkerArray 198 | Namespaces: 199 | Trajectory 0: true 200 | Trajectory 1: true 201 | Queue Size: 100 202 | Value: true 203 | - Class: rviz/MarkerArray 204 | Enabled: true 205 | Marker Topic: /constraint_list 206 | Name: MarkerArray 207 | Namespaces: 208 | Inter constraints, different trajectories: true 209 | Inter constraints, same trajectory: true 210 | Inter residuals, different trajectories: true 211 | Inter residuals, same trajectory: true 212 | Intra constraints: true 213 | Intra residuals: true 214 | Queue Size: 100 215 | Value: true 216 | Enabled: true 217 | Global Options: 218 | Background Color: 100; 100; 100 219 | Default Light: true 220 | Fixed Frame: map 221 | Frame Rate: 30 222 | Name: root 223 | Tools: 224 | - Class: rviz/Interact 225 | Hide Inactive Objects: true 226 | - Class: rviz/MoveCamera 227 | - Class: rviz/Select 228 | - Class: rviz/FocusCamera 229 | - Class: rviz/Measure 230 | - Class: rviz/SetInitialPose 231 | Topic: /initialpose 232 | - Class: rviz/SetGoal 233 | Topic: /move_base_simple/goal 234 | - Class: rviz/PublishPoint 235 | Single click: true 236 | Topic: /clicked_point 237 | Value: true 238 | Views: 239 | Current: 240 | Angle: 0 241 | Class: rviz/TopDownOrtho 242 | Enable Stereo Rendering: 243 | Stereo Eye Separation: 0.0599999987 244 | Stereo Focal Distance: 1 245 | Swap Stereo Eyes: false 246 | Value: false 247 | Invert Z Axis: false 248 | Name: Current View 249 | Near Clip Distance: 0.00999999978 250 | Scale: 100 251 | Target Frame: base_footprint 252 | Value: TopDownOrtho (rviz) 253 | X: 0 254 | Y: 0 255 | Saved: ~ 256 | Window Geometry: 257 | Displays: 258 | collapsed: false 259 | Height: 1056 260 | Hide Left Dock: false 261 | Hide Right Dock: false 262 | QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007470000003efc0100000002fb0000000800540069006d00650100000000000007470000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004c20000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 263 | Selection: 264 | collapsed: false 265 | Time: 266 | collapsed: false 267 | Tool Properties: 268 | collapsed: false 269 | Views: 270 | collapsed: false 271 | Width: 1863 272 | X: 57 273 | Y: 24 274 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | 2 | Apache License 3 | Version 2.0, January 2004 4 | http://www.apache.org/licenses/ 5 | 6 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 7 | 8 | 1. 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