diff --git a/README.md b/README.md index 550b687..aebf8fd 100644 --- a/README.md +++ b/README.md @@ -11,16 +11,28 @@ mrpt_navigation =============== -This repository provides packages that wrap functionality in the Mobile Robot Programming Toolkit ([MRPT](https://github.com/MRPT/mrpt/)) related to localization and navigation. SLAM and sensor access are wrapped into [other ROS repositories](https://github.com/mrpt-ros-pkg/). +This repository provides packages that wrap functionality in the Mobile Robot Programming Toolkit ([MRPT](https://github.com/MRPT/mrpt/)) related to localization and navigation. MRPT SLAM and sensor access are wrapped into [other ROS repositories](https://github.com/mrpt-ros-pkg/). + +The latest **SLAM framework**, whose maps are compatible with this repository for localization, is [MOLA](https://github.com/MOLAorg/). Documentation for each package ---------------------------------- -* [mrpt_local_obstacles](mrpt_local_obstacles): A node that maintains a local obstacle map. +Related to localization: +* [mrpt_map](mrpt_map): A node that loads a ROS standard gridmap or an MRPT or MP2P_ICP map and publishes it to a (set of) topic(s). * [mrpt_pf_localization](mrpt_pf_localization): A node for particle filter-based localization of a robot from any kind of metric map (gridmap, points, range-only sensors, ...). -* [mrpt_map](mrpt_map): A node that loads a ROS standard gridmap or an MRPT map and publishes it to a topic. -* ... + +Related to sensor pipelines: +* [mrpt_local_obstacles](mrpt_local_obstacles): A node that maintains a local obstacle map, mostly needed for 2D lidars to keep a memory of obstacles that get out of the sensor field of view. + +Related to autonomous navigation: +* [mrpt_reactivenav2d](mrpt_reactivenav2d): A pure reactive navigator for polygonal robots on 2D worlds. + +Others: +* [mrpt_rawlog](mrpt_rawlog): Nodes and CLI tools to convert between MRPT rawlog format and ROS rosbag2. +* [mrpt_tutorials](mrpt_tutorials): Launch and configuration files for the various examples provided for the other packages. +* [mrpt_msgs_bridge](mrpt_msgs_bridge): C++ library to convert between custom [mrpt_msgs](https://github.com/mrpt-ros-pkg/mrpt_msgs) messages and native MRPT classes General documentation diff --git a/mrpt_pf_localization/README.md b/mrpt_pf_localization/README.md index 73d426c..991dfdd 100644 --- a/mrpt_pf_localization/README.md +++ b/mrpt_pf_localization/README.md @@ -143,8 +143,8 @@ This package provides [launch/localization.launch.py](launch/localization.launch which can be used in user projects to launch the MRPT PF localization node, by setting these [launch arguments](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Launch/Using-Substitutions.html): -* ``mrpt_map_config_file`` and ``mrpt_simplemap_file``: If used together, they select an MRPT map to be loaded as - reference map for the localization algorithm. These two files work as described in ["format 2"](https://github.com/mrpt-ros-pkg/mrpt_navigation/tree/ros2/mrpt_map#working-rationale) in the docs for ``mrpt_map``. +* ``mrpt_map_config_file``: Path to an INI file with metric map (mrpt::maps::CMetricMap) parameters to override the incoming map `likelihoodOptions`. + If this optional parameter is not provided, likelihood options will be taken from the map sent by the [mrpt_map](https://github.com/mrpt-ros-pkg/mrpt_navigation/tree/ros2/mrpt_map) node. * ``pf_params_file`` (Default: [params/default.config.yaml](params/default.config.yaml)): If defined, overrides the default particle filter algorithm. Note that probabilistic likelihood models for the metric maps are in an independent file (``mrpt_map_config_file``). diff --git a/mrpt_pf_localization/launch/localization.launch.py b/mrpt_pf_localization/launch/localization.launch.py index 63d7129..f945095 100644 --- a/mrpt_pf_localization/launch/localization.launch.py +++ b/mrpt_pf_localization/launch/localization.launch.py @@ -22,12 +22,6 @@ def generate_launch_description(): "mrpt_map_config_file", default_value=TextSubstitution( text=os.path.join(pfLocDir, 'params', 'map-occgrid2d.ini'))) - mrpt_simplemap_file_launch_arg = DeclareLaunchArgument( - "mrpt_simplemap_file", default_value='') - - mrpt_metricmap_file_launch_arg = DeclareLaunchArgument( - "mrpt_metricmap_file", default_value='') - pf_params_file_launch_arg = DeclareLaunchArgument( "pf_params_file", default_value=TextSubstitution( text=os.path.join(pfLocDir, 'params', 'default.config.yaml'))) @@ -47,8 +41,6 @@ def generate_launch_description(): LaunchConfiguration('pf_params_file'), { "mrpt_map_config_file": LaunchConfiguration('mrpt_map_config_file'), - "mrpt_simplemap_file": LaunchConfiguration('mrpt_simplemap_file'), - "mrpt_metricmap_file": LaunchConfiguration('mrpt_metricmap_file'), }], arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')] @@ -56,8 +48,6 @@ def generate_launch_description(): return LaunchDescription([ mrpt_map_config_file_launch_arg, - mrpt_simplemap_file_launch_arg, - mrpt_metricmap_file_launch_arg, pf_log_level_launch_arg, pf_params_file_launch_arg, pf_localization_node, diff --git a/mrpt_tutorials/launch/demo_localization_pf_mvsim_2d_lidar.launch.py b/mrpt_tutorials/launch/demo_localization_pf_mvsim_2d_lidar.launch.py index 71acc52..b6ca6af 100644 --- a/mrpt_tutorials/launch/demo_localization_pf_mvsim_2d_lidar.launch.py +++ b/mrpt_tutorials/launch/demo_localization_pf_mvsim_2d_lidar.launch.py @@ -23,7 +23,6 @@ def generate_launch_description(): get_package_share_directory('mrpt_pf_localization'), 'launch', 'localization.launch.py')]), launch_arguments={ - 'mrpt_metricmap_file': os.path.join(tutsDir, '', ''), 'log_level': 'INFO', }.items() )