node_edge_localizer

Environment

• Ubuntu 16.04LTS
• ROS Kinetic

Dependencies

• amsl_navigation_managers
• amsl_navigation_msgs

Published topics

• /estimated_pose/pose (nav_msgs/Odometry)
  • estimated robot pose on map
• /estimated_pose/edge (amsl_navigation_msgs/Edge)
  • an edge presumed to have the robot
• /estimated_pose/particles
  • visualization of particle filter

Subscribed topics

• /node_edge_map/map (amsl_navigation_msgs/NodeEdgeMap)
  • the node edge map
• /odom/complement
  • wheel odometry (complementation with IMU is recommended)

Parameters

• HZ
  • main loop rate (default: 20[Hz])
• INIT_NODE0_ID
  • node id of the begin of initial edge (default: 0)
• INIT_NODE1_ID
  • node id of the end of initial edge (default: 1)
• INIT_PROGRESS
  • initial progress on initial edge (default: 0.0)
• INIT_YAW
  • initial robot yaw in map frame (default: 0.0)
• CURVATURE_THRESHOLD
  • trajectories with curvature greater than this parameter are considered as curves (default: 0.010)
• POSE_NUM_PCA
  • number of robot poses to calculate principal component analysis for calculating trajectory curvature and angle (default: 50)
• MIN_LINE_SIZE
  • number of robot poses that exceed this parameter is considered a trajectory (default: 50)
    • this parameter is recommended to correspond with pose_num_pca
• MIN_LINE_LENGTH
  • trajectories that are longer than this parameter and aren't curve is considered as straight lines (default: 3.0[m])
• ENABLE_TF
  • if this parameter is true, this node publishes transform from map frame to robot frame (default: false)
    • to publish transform, odom frame to robot frame tf is required
• USE_ORIENTATION_Z_AS_YAW
  • in principle, this parameter should NOT be set to "true" (default: false)
• PARTICLES_NUM
  • number of particles (default: 1000)
• NOISE_SIGMA
  • standard deviation of particle motion noise (default: 0.10)
• EDGE_DECISION_THRESHOLD
  • when the robot passes the node by this distance, the particles determine the next edge according to the robot's orientation (default: 0.5[m])
• SAME_TRAJECTORY_ANGLE_THRESHOLD
  • the continuous trajectories with less orientation difference than this angle is considered to be same trajectory (default: M_PI/6[rad])
• CONTINUOUS_LINE_THRESHOLD
  • connected edges with angles smaller than the threshold are considered straight (default: M_PI/6[rad])
• LINE_EDGE_RATIO_THRESHOLD (DEPRECATED)
  • linear trajectories shorter than the threshold aren't used for correction (default: 0.5[m])
• ENABLE_ODOM_TF
  • if this param is true, this node publishes internally calculated odometry (default: false)
• CORRECTION_REJECTION_ANGLE_DIFFERENCE_THRESHOLD
  • if yaw of the correction result is greater than this threshold, the correction is rejected (default: M_PI/6[rad])
• RESAMPLING_INTERVAL
  • resampling particles once every (this param) times (default: 5)
• EDGE_CERTAIN_THRESHOLD
  • particles ratio for deciding estimated edge (default: 0.9)
• ENABLE_TENTATIVE_CORRECTION
  • if true, perform tentavice correction (default: false)