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slam_karto: karto | karto_scan_matcher

Package Summary

SLAM using KARTO from SRI International

slam_karto: karto | karto_scan_matcher

Package Summary

SLAM using KARTO from SRI International

slam_karto: karto | karto_scan_matcher

Package Summary

SLAM using KARTO from SRI International

Package Summary

This package pulls in the Karto mapping library, and provides a ROS wrapper for using it.

  • Maintainer: Michael Ferguson <fergs AT unboundedrobotics DOT com>
  • Author: Brian Gerkey
  • License: LGPL

Package Summary

This package pulls in the Karto mapping library, and provides a ROS wrapper for using it.

  • Maintainer status: maintained
  • Maintainer: Michael Ferguson <mfergs7 AT gmail DOT com>, Luc Bettaieb <lbettaieb AT fetchrobotics DOT com>
  • Author: Brian Gerkey
  • License: LGPL
  • Source: git https://github.com/ros-perception/slam_karto.git (branch: indigo-devel)

Package Summary

This package pulls in the Karto mapping library, and provides a ROS wrapper for using it.

Package Summary

This package pulls in the Karto mapping library, and provides a ROS wrapper for using it.

  • Maintainer status: maintained
  • Maintainer: Michael Ferguson <mfergs7 AT gmail DOT com>, Luc Bettaieb <lbettaieb AT fetchrobotics DOT com>
  • Author: Brian Gerkey
  • License: LGPL
  • Source: git https://github.com/ros-perception/slam_karto.git (branch: indigo-devel)

Package Summary

This package pulls in the Karto mapping library, and provides a ROS wrapper for using it.

  • Maintainer status: maintained
  • Maintainer: Michael Ferguson <mfergs7 AT gmail DOT com>, Luc Bettaieb <luc.bettaieb AT gmail DOT com>, Russell Toris <rtoris AT fetchrobotics DOT com>
  • Author: Brian Gerkey
  • License: LGPL
  • Source: git https://github.com/ros-perception/slam_karto.git (branch: melodic-devel)

Package Summary

This package pulls in the Karto mapping library, and provides a ROS wrapper for using it.

  • Maintainer status: maintained
  • Maintainer: Michael Ferguson <mfergs7 AT gmail DOT com>, Luc Bettaieb <luc.bettaieb AT gmail DOT com>, Russell Toris <rtoris AT fetchrobotics DOT com>
  • Author: Brian Gerkey
  • License: LGPL
  • Source: git https://github.com/ros-perception/slam_karto.git (branch: melodic-devel)

Documentation

Part of the documentation is available in the previously maintained karto package.

Nodes

slam_karto

The slam_karto node takes in sensor_msgs/LaserScan messages and builds a map (nav_msgs/OccupancyGrid). The map can be retrieved via a ROS topic or service.

Subscribed Topics

tf (tf/tfMessage) scan (sensor_msgs/LaserScan)

Published Topics

map_metadata (nav_msgs/MapMetaData) map (nav_msgs/OccupancyGrid) visualization_marker_array (visualization_msgs/MarkerArray)

Services

dynamic_map (nav_msgs/GetMap)

Parameters

~odom_frame (string, default: "odom") ~map_frame (string, default: "map") ~base_frame (string, default: "base_link") ~throttle_scans (int, default: 1) ~map_update_interval (float, default: 5.0) ~resolution (float, default: 0.05) ~delta (float, default: 0.05) ~transform_publish_period (float, default: 0.05) ~use_scan_matching (bool, default: true) ~use_scan_barycenter (bool, default: true) ~minimum_travel_distance (double, default: 0.2) ~minimum_travel_heading (double, default: deg2rad(10)) ~scan_buffer_size (int, default: 70) ~scan_buffer_maximum_scan_distance (double, default: 20.) ~link_match_minimum_response_fine (double, default: 0.8) ~link_scan_maximum_distance (double, default: 10.) ~loop_search_maximum_distance (double, default: 4.) ~do_loop_closing (bool, default: true) ~loop_match_minimum_chain_size (int, default: 10) ~loop_match_maximum_variance_coarse (double, default: sqrt(0.4)) ~loop_match_minimum_response_coarse (double, default: 0.8) ~loop_match_minimum_response_fine (double, default: 0.8) ~correlation_search_space_dimension (double, default: 0.3) ~correlation_search_space_resolution (double, default: 0.01) ~correlation_search_space_smear_deviation (double, default: 0.03) ~loop_search_space_dimension (double, default: 8.0) ~loop_search_space_resolution (double, default: 0.05) ~loop_search_space_smear_deviation (double, default: 0.03) ~distance_variance_penalty (double, default: sqrt(0.3)) ~angle_variance_penalty (double, default: sqrt(deg2rad(20))) ~fine_search_angle_offset (double, default: deg2rad(0.2)) ~coarse_search_angle_offset (double, default: deg2rad(20.0)) ~coarse_angle_resolution (double, default: deg2rad(2.0)) ~minimum_angle_penalty (double, default: 0.9) ~minimum_distance_penalty (double, default: 0.5) ~use_response_expansion (bool, default: false)

Required tf Transforms

<the frame_id of the incoming scans>base_link base_linkodom

Provided tf Transforms

mapodom

Report a Bug

Use github to report a bug or propose an enhancement.


2019-12-07 13:09