ROS1 package that provides lidar odometry from panoramic 2D range scans. Method: scan-matching without using correspondences, based on properties of the Discrete Fourier Transform
Shell 0.14%C++ 97.67%CMake 0.75%Dockerfile 1.44%
fsm_lidom_ros's Introduction
ROS wrapper (cpp) for the Fourier Scan Matcher (FSM) in the guise of lidar odometry.
Functionally fsm_lidom_ros assumes a 2D LIDAR sensor with a field of view of
360 degrees and executing it while the sensor is on the move will output an estimate
of its trajectory.
or build the image with the most recent code of this repository
cd ~/catkin_ws/src
git clone [email protected]:li9i/fsm_lidom_ros.git
cd fsm_lidom_ros/docker
./build_fsm_lidom_image.sh
./run_fsm_lidom_container.sh
Via the traditional method
Tested in Ubuntu 16.04 and ROS kinetic
Dependencies: CGAL 4.7FFTW3boost/random
Building
cd ~/catkin_ws/src
git clone [email protected]:li9i/fsm_lidom_ros.git
cd ~/catkin_ws
catkin build fsm_lidom_ros
Executing
roslaunch fsm_lidom_ros avanti_fsm_lidom.launch
Nodes
fsm_lidom_node
Subscribed topics
Topic
Type
Utility
scan_topic
sensor_msgs/LaserScan
2d panoramic scans are published here
initial_pose_topic
geometry_msgs/PoseWithCovarianceStamped
optional---for setting the very first pose estimate to something other than the origin
Published topics
Topic
Type
Utility
pose_estimate_topic
geometry_msgs/PoseStamped
the current pose estimate relative to the global frame is published here
path_estimate_topic
nav_msgs/Path
the total estimated trajectory relative to the global frame is published here
lidom_topic
nav_msgs/Odometry
the odometry is published here
Services offered
Service
Type
Utility
fsm_lidom/clear_estimated_trajectory
std_srvs/Empty
clears the vector of estimated poses
fsm_lidom/set_initial_pose
std_srvs/Empty
calling this service means: node subscribes to initial_pose_topic, obtains the latest pose estimate, sets fsm's initial pose, and unsubscribes
fsm_lidom/start
std_srvs/Empty
commences node functionality
fsm_lidom/stop
std_srvs/Empty
halts node functionality (node remains alive)
Parameters
Found in config/params.yaml:
IO Topics
Description
scan_topic
2d panoramic scans are published here
initial_pose_topic
(optional) the topic where an initial pose estimate may be provided
pose_estimate_topic
fsm_lidom_ros's pose estimates are published here
path_estimate_topic
fsm_lidom_ros's total trajectory estimate is published here
lidom_topic
fsm_lidom_ros's odometry estimate is published here
Frame ids
Description
global_frame_id
the global frame id (e.g. /map)
base_frame_id
the lidar sensor's reference frame id (e.g. /base_laser_link)
lidom_frame_id
the (lidar) odometry's frame id
FSM-specific parameters
Description
size_scan
the size of scans that are matched (execution time is proportional to scan size, hence subsampling may be needed)
min_magnification_size
base angular oversampling
max_magnification_size
maximum angular oversampling
num_iterations
Greater sensor velocity requires higher values
xy_bound
Axiswise radius for randomly generating a new initial position estimate in case of recovery
t_bound
Angularwise radius for randomly generating a new initial orientation estimate in case of recovery
max_counter
Lower values decrease execution time
max_recoveries
Ditto
Transforms published
lidom_frame_id <- base_frame_id
in other words fsm_lidom_node publishes the transform from /base_laser_link
(or equivalent) to the equivalent of /odom (in this case lidom_frame_id)
Motivation and Under the hood
1 min summary video
IROS 2022 paper
@INPROCEEDINGS{9981228,
author={Filotheou, Alexandros and Sergiadis, Georgios D. and Dimitriou, Antonis G.}
booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={FSM: Correspondenceless scan-matching of panoramic 2D range scans},
year={2022},
pages={6968-6975},
doi={10.1109/IROS47612.2022.9981228}}