Using Cartographer as odometry with amcl for localization in a given map |
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I wanted to exploit the fact that Cartographer gives pretty accurate position estimate. I used Cartographer just using IMU and laser to make an indoor map, and it pretty good. Then I want use Cartographer as odometry and amcl to do global localization in a pre-aquired map by Cartographer, but the robot drift away. On my robot a TF frame that looks like this: The configuration of Cartographer_ros is like: include "map_builder.lua" options = { map_builder = MAP_BUILDER, map_frame = "odom", tracking_frame = "gyro_link", published_frame = "base_footprint", odom_frame = "google_odom", provide_odom_frame = true, use_odometry = false, use_laser_scan = true, use_multi_echo_laser_scan = false, num_point_clouds = 0, lookup_transform_timeout_sec = 0.2, submap_publish_period_sec = 0.3, pose_publish_period_sec = 5e-3, } MAP_BUILDER.use_trajectory_builder_2d = true TRAJECTORY_BUILDER_2D.laser_min_range = 0.2 TRAJECTORY_BUILDER_2D.laser_max_range = 8. TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 5. TRAJECTORY_BUILDER_2D.use_imu_data = true TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1) SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65 SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7 return optionsI used the position estimate to find odometry and now Cartographer successful transform the required tf. But when I run amcl and publish an already created map using map_server, the pose of robot drift. It seems amcl doesn't work enven if the tf, map, laser_scan look like ok. And I also remap the Cartographer mapping map to something else . Please help how to resolve this issue. |
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