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norlab_icp_mapper_ros

A bridge between norlab_dense_mapper and ROS.

Node Parameters

Name Description Possible values Default Value
map_frame Frame used for the map. Any string "map"
robot_frame Frame centered on the robot. Any string "base_link"
depth_camera_frame Frame centered on the depth camera. Any string ""
initial_map_file_name Path of the file from which the initial map is loaded. Any file path ""
final_map_file_name Path of the file in which the final map is saved when is_online is false. Any file path "dense_map.vtk"
depth_camera_filters_config Path of the file containing the filters applied to the points in the depth camera frame. Any file path ""
lidar_filters_config Path of the file containing the filters applied to the points in the lidar frame. Any file path ""
robot_filters_config Path of the file containing the filters applied to the points in the robot frame. Any file path ""
robot_stabilized_filters_config Path of the file containing the filters applied to the points in the robot_stabilized frame. Any file path ""
map_post_filters_config Path of the file containing the filters applied to the map after the update. Any file path ""
map_update_condition Condition for map update. {"delay", "distance"} "delay"
map_update_delay Delay since last map update over which the map is updated (in seconds). [0, ∞) 1
map_update_distance Euclidean distance from last map update over which the map is updated (in meters). [0, ∞) 0.5
map_publish_rate Rate at which the map is published (in Hertz). It can be slower depending on the map update rate. (0, ∞) 10
max_idle_time Delay to wait being idle before shutting down ROS when is_online is false (in seconds). [0, ∞) 10
min_dist_new_point Distance from current map points under which a new point is not added to the map (in meters). [0, ∞) 0.03
sensor_max_range Maximum reading distance of the laser (in meters). [0, ∞) 80
prior_dynamic A priori probability of points being dynamic. [0, 1] 0.6
threshold_dynamic Probability at which a point is considered permanently dynamic. [0, 1] 0.9
beam_half_angle Half angle of the cones formed by the sensor laser beams (in rad). [0, π/2] 0.01
epsilon_a Error proportional to the sensor distance. [0, ∞) 0.01
epsilon_d Fix error on the sensor distance (in meters). [0, ∞) 0.01
alpha Probability of staying static given that the point was static. [0, 1] 0.8
beta Probability of staying dynamic given that the point was dynamic. [0, 1] 0.99
is_3D true when a 3D sensor is used, false when a 2D sensor is used. {true, false} true
is_depth_camera_enabled true when a depth camera is used, false otherwise. {true, false} false
is_online true when online mapping is wanted, false otherwise. {true, false} true
is_mapping true when map updates are wanted, false when only localization is wanted. {true, false} true
is_markers_enabled true when the points covariance markers is wanted, false otherwise. {true, false} false
compute_prob_dynamic true when computation of probability of points being dynamic is wanted, false otherwise. {true, false} false
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

Node Topics

Name Description
lslidar_point_cloud_deskewed Topic from which the input points are retrieved.
dense_map Topic in which the dense map is published.

Node Services

Name Description Parameter Name Parameter Description
save_map Saves the current map. filename Path of the file in which the map is save.
load_map Loads the current map. filename Path of the file in which the map was saved.
reload_yaml_config Reload all YAML config files.