Name

Mapper_gmapping

Brief

Mapper RTC using gmapping

Description

License

Image

Language

C++

URL

https://github.com/ysuga/Mapper_gmapping.git

Platform

[‘osx’, ‘win’, ‘ubuntu’]

Data In Ports

Name	Type	Unit	Description
range	RTC::RangeData
odometry	RTC::TimedPose2D

Data Out Ports

Name	Type	Unit	Description
estimatedPose	RTC::TimedPose2D

Service Ports

gridMapper

Name	Direction	Type	Description
OGMapper	Provided	RTC::OGMapper

Configurations

Name	Type	Default	Unit	Description
debug	int	0
sigma	float	0.05		The sigma used by the greedy endpoint matching
kernelSize	int	1		The kernel in which to look for a correspondence
lstep	float	0.05		The optimization step in translation
astep	float	0.05		The optimization step in rotation
iterations	int	5		The number of iterations of the scanmatcher
lsigma	float	0.075		The sigma of a beam used for likelihood computation
ogain	float	3.0		Gain to be used while evaluating the likelihood, for smoothing the resampling effects
lskip	int	0		Number of beams to skip in each scan.
minimumScore	float	0.0		Minimum score for considering the outcome of the scan matching good. Can avoid jumping pose estimates in large open spaces when using laser scanners with limited range (e.g. 5m). Scores go up to 600+, try 50 for example when experiencing jumping estimate issues.
srr	float	0.1		Odometry error in translation as a function of translation (rho/rho)
srt	float	0.2		Odometry error in translation as a function of rotation (rho/theta)
str	float	0.1		Odometry error in rotation as a function of translation (theta/rho)
stt	float	0.05		Odometry error in rotation as a function of rotation (theta/theta)
linearUpdate	float	1.0		Process a scan each time the robot translates this far
angularUpdate	float	0.5		Process a scan each time the robot rotates this far
temporalUpdate	float	-1.0		Process a scan if the last scan proccessed is older than the update time in seconds. A value less than zero will turn time based updates off.
resampleThreshold	float	0.5		The Neff based resampling threshold
particles	int	30		Number of particles in the filter
xmin	float	-100		Initial map size
ymin	float	-100		Initial map size
xmax	float	100		Initial map size
ymax	float	100		Initial map size
delta	float	0.05		Processing parameters (resolution of the map)
llsamplerange	float	0.01		Translational sampling range for the likelihood
llsamplestep	float	0.01		Translational sampling step for the likelihood
lasamplerange	float	0.005		Angular sampling range for the likelihood
lasamplestep	float	0.005		Angular sampling step for the likelihood
transform_publish_period	float	0.05		How long (in seconds) between transform publications.
occ_thresh	float	0.25		Threshold on gmapping’s occupancy values. Cells with greater occupancy are considered occupied (i.e., set to 100 in the resulting sensor_msgs/LaserScan).
throttle_scans	int	1		throttle_scans
map_update_interval	float	5.0		How long (in seconds) between updates to the map. Lowering this number updates the occupancy grid more often, at the expense of greater computational load.

How To Build

Linux
  $ git clone https://github.com/ysuga/Mapper_gmapping.git
  $ cd Mapper_gmapping
  $ mkdir build
  $ cd build
  $ cmake ../
  $ make
Windows
  Download ZIP file from the website, and use CMake to generate VC2010 project.
  Then, open the project and build it.

How To Build in wasanbon

  $ wasanbon-admin.py package create Mapper_gmapping_test_project # You can also use other preinstalled package 
  $ wasanbon-cd Mapper_gmapping_test_project
  $ ./mgr.py rtc clone Mapper_gmapping
  $ ./mgr.py rtc build Mapper_gmapping
  $ ./mgr.py rtc run Mapper_gmapping # To Run RTC

Profile Status

Not available

Build Status

Build in Windows

Success (2015-01-23 10:25:18.788000)

Build in OSX

Failed (2015-01-23 01:41:43.616129)

Build in Linux

Failed (2015-01-22 20:35:46.830327)

Copyright

ssr