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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <xacro:macro name="velodyne_lidar" params="name parent_link *origin | ||
| ang_res_h:=0.4 min_ang_h:=-3.141592 max_ang_h:=3.141592 | ||
| ang_res_v:=2.0 min_ang_v:=-0.261799 max_ang_v:=0.261799 | ||
| update_rate:=20 min_range:=0.9 max_range:=130.0"> | ||
| <link name="${name}_link"> | ||
| <inertial> | ||
| <mass value="0.83"/> | ||
| <origin xyz="0 0 0.03585"/> | ||
| <inertia ixx="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" | ||
| ixy="0" | ||
| ixz="0" | ||
| iyy="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" | ||
| iyz="0" | ||
| izz="${0.5 * 0.83 * (0.0516*0.0516)}"/> | ||
| </inertial> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="file://$(find rove_description)/meshes/vlp16/VLP16_base_1.dae"/> | ||
| </geometry> | ||
| </visual> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="file://$(find rove_description)/meshes/vlp16/VLP16_base_2.dae"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin rpy="0 0 0" xyz="0 0 0.03585"/> | ||
| <geometry> | ||
| <cylinder radius="0.0516" length="0.0717"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <joint name="${name}_joint" type="fixed"> | ||
| <xacro:insert_block name="origin"/> | ||
| <parent link="${parent_link}"/> | ||
| <child link="${name}_link"/> | ||
| </joint> | ||
|
|
||
| <link name="${name}_laser"> | ||
| <inertial> | ||
| <mass value="0.01"/> | ||
| <origin xyz="0 0 0"/> | ||
| <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 0 -0.0377"/> | ||
| <geometry> | ||
| <mesh filename="file://$(find rove_description)/meshes/vlp16/VLP16_scan.dae"/> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
|
|
||
| <joint name="${name}_laser_joint" type="fixed"> | ||
| <origin xyz="0 0 0.0377" rpy="0 0 0"/> | ||
| <parent link="${name}_link"/> | ||
| <child link="${name}_laser"/> | ||
| </joint> | ||
|
|
||
| <xacro:property name="samples_h" value="${round((max_ang_h - min_ang_h) * 180 / (ang_res_h * pi))}"/> | ||
| <xacro:property name="samples_v" value="${round((max_ang_v - min_ang_v) * 180 / (ang_res_v * pi))}"/> | ||
|
|
||
| <gazebo reference="${name}_laser"> | ||
| <sensor name="${name}" type="gpu_lidar"> | ||
| <update_rate>${update_rate}</update_rate> | ||
| <visualize>true</visualize> | ||
| <always_on>true</always_on> | ||
| <update_rate>5</update_rate> | ||
| <topic>scan</topic> | ||
| <gz_frame_id>${name}_laser</gz_frame_id> | ||
| <lidar> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>${samples_h}</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>${min_ang_h}</min_angle> | ||
| <max_angle>${max_ang_h}</max_angle> | ||
| </horizontal> | ||
| <vertical> | ||
| <samples>${samples_v}</samples> | ||
| <resolution>1</resolution> | ||
| <min_angle>${min_ang_v}</min_angle> | ||
| <max_angle>${max_ang_v}</max_angle> | ||
| </vertical> | ||
| </scan> | ||
| <range> | ||
| <min>${min_range}</min> | ||
| <max>${max_range}</max> | ||
| <resolution>0.01</resolution> | ||
| </range> | ||
| </lidar> | ||
| </sensor> | ||
| </gazebo> | ||
|
|
||
| </xacro:macro> | ||
| </robot> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,131 @@ | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node | ||
|
|
||
| def generate_launch_description(): | ||
|
|
||
| lidar_frame_id = LaunchConfiguration('lidar_frame_id') | ||
|
|
||
| use_sim_time = LaunchConfiguration('use_sim_time') | ||
| deskewing = False | ||
|
|
||
| return LaunchDescription([ | ||
|
|
||
|
|
||
| DeclareLaunchArgument( | ||
| 'lidar_frame_id', default_value='velodyne_laser', | ||
| description='Lidar frame id'), | ||
|
|
||
| # Launch arguments | ||
| DeclareLaunchArgument( | ||
| 'use_sim_time', default_value='true', | ||
| description='Use simulation (Gazebo) clock if true'), | ||
|
|
||
| DeclareLaunchArgument( | ||
| 'deskewing', default_value='true', | ||
| description='Enable lidar deskewing'), | ||
|
|
||
| # Nodes to launch | ||
| Node( | ||
| package='rtabmap_odom', executable='icp_odometry', output='screen', | ||
| parameters=[{ | ||
| 'frame_id': lidar_frame_id, # 'livox_frame' | ||
| 'odom_frame_id': 'odom', | ||
| 'wait_for_transform': 0.2, | ||
| 'expected_update_rate': 50.0, | ||
| 'deskewing': deskewing, | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('scan_cloud', '/velodyne_points') | ||
| ], | ||
| arguments=[ | ||
| 'Icp/PointToPlane', 'true', | ||
| 'Icp/Iterations', '10', | ||
| 'Icp/VoxelSize', '0.1', | ||
| 'Icp/Epsilon', '0.001', | ||
| 'Icp/PointToPlaneK', '20', | ||
| 'Icp/PointToPlaneRadius', '0', | ||
| 'Icp/MaxTranslation', '2', | ||
| 'Icp/MaxCorrespondenceDistance', '1', | ||
| 'Icp/Strategy', '1', | ||
| 'Icp/OutlierRatio', '0.7', | ||
| 'Icp/CorrespondenceRatio', '0.01', | ||
| 'Odom/ScanKeyFrameThr', '0.4', | ||
| 'OdomF2M/ScanSubtractRadius', '0.1', | ||
| 'OdomF2M/ScanMaxSize', '15000', | ||
| 'OdomF2M/BundleAdjustment', 'false', | ||
| ]), | ||
|
|
||
| Node( | ||
| package='rtabmap_util', executable='point_cloud_assembler', output='screen', | ||
| parameters=[{ | ||
| 'max_clouds': 10, | ||
| 'fixed_frame_id': '', | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('cloud', '/velodyne_points') | ||
| ]), | ||
|
|
||
| Node( | ||
| package='rtabmap_slam', executable='rtabmap', output='screen', | ||
| parameters=[{ | ||
| 'frame_id': lidar_frame_id, # 'livox_frame' | ||
| 'subscribe_depth': False, | ||
| 'subscribe_rgb': False, | ||
| 'subscribe_scan_cloud': True, | ||
| 'approx_sync': False, | ||
| 'wait_for_transform': 0.2, | ||
| 'use_sim_time': use_sim_time, | ||
| 'wait_imu_to_int': True, | ||
| 'imu_topic': 'imu', | ||
| }], | ||
| remappings=[ | ||
| ('scan_cloud', 'assembled_cloud') | ||
| ], | ||
| arguments=[ | ||
| '-d', # This will delete the previous database (~/.ros/rtabmap.db) | ||
| 'RGBD/ProximityMaxGraphDepth', '0', | ||
| 'RGBD/ProximityPathMaxNeighbors', '1', | ||
| 'RGBD/AngularUpdate', '0.05', | ||
| 'RGBD/LinearUpdate', '0.05', | ||
| 'RGBD/CreateOccupancyGrid', 'true', | ||
| 'Mem/NotLinkedNodesKept', 'false', | ||
| 'Mem/STMSize', '30', | ||
| 'Mem/LaserScanNormalK', '20', | ||
| 'Reg/Strategy', '1', | ||
| 'Icp/VoxelSize', '0.5', | ||
| 'Icp/PointToPlaneK', '20', | ||
| 'Icp/PointToPlaneRadius', '0', | ||
| 'Icp/PointToPlane', 'true', | ||
| 'Icp/Iterations', '10', | ||
| 'Icp/Epsilon', '0.001', | ||
| 'Icp/MaxTranslation', '3', | ||
| 'Icp/MaxCorrespondenceDistance', '1', | ||
| 'Icp/Strategy', '1', | ||
| 'Icp/OutlierRatio', '0.7', | ||
| 'Icp/CorrespondenceRatio', '0.2', | ||
| 'Grid/MaxGroundHeight', '0.05', | ||
| 'Grid/MaxObstacleHeight', '1.5', | ||
| 'Reg/Force3DoF', 'true', | ||
| 'Optimizer/Slam2D', 'true', | ||
|
|
||
| ]), | ||
|
|
||
| Node( | ||
| package='rtabmap_viz', executable='rtabmap_viz', output='screen', | ||
| parameters=[{ | ||
| 'frame_id': lidar_frame_id, | ||
| 'odom_frame_id': 'odom', | ||
| 'subscribe_odom_info': True, | ||
| 'subscribe_scan_cloud': True, | ||
| 'approx_sync': False, | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('scan_cloud', 'odom_filtered_input_scan') | ||
| ]), | ||
| ]) | ||
|
|
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