Update of /cvsroot/playerstage/code/player/server/drivers/mixed/mricp
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv6130/server/drivers/mixed/mricp
Added Files:
Makefile.am README doxy.Doxyfile
Log Message:
added mricp driver, thanks to Tarek Taha
--- NEW FILE: README ---
This is the MRICP driver for player/stage.
This Driver is used as a localizer and Occupancy Grid Map Builder using simple
Bayesian
Probability Update. It uses Iterative Closest Point method to allign laser
scans and estimate
the change of pose.
COMPILATION
- pk-config should have the player package pointing to the libs and cflags
- Use the make file script to compile the driver and generate the shared object
"MrIcpDriver.so"
"make"
to install, copy MrIcpDriver.so to /usr/local/lib/
or
create a symbolic link where you're running your configuration file
ln -s MRICP_PATH/MrIcpDriver.so
where MRICP_PATH is the path where the mricp driver is compiled
USE
The file "amigo_mricp.cfg" provides an example of driver use for an
amigo (or pioneer) robot with a mounted Hokuyo URG laser.
The driver requires at least one laser interface, and optionally a position
interface (the latter is required if you actually want to drive the
robot via this driver). The driver provides a position interface which
returns the position of the robot in the current patch as calculated by
mricp.
Specifications / Operation
- Upon start, the driver initializes the initial pose to [0 0 0] m,m,rd
- When the driver recieves a PLAYER_POSITION_RESET_ODOM_REQ configuration
request, it:
1- Saves the current map patch and starts a new one.
2- Raves the pose of the new patch in respect to the old one.
3- It resets the Robot pose to[0 0 0].
4- Resets the Occupancy grid probability and assumes all the cells unknown.
- The driver saves the information about the map patches and their position
relative to the previous patch map_path/map_configs.txt where map_path is the
path
of the directory to contain the maps specified in the driver configuration
file.
- The driver computes the Occupancy Grid using Bayesian probability update. It
computes
the uncertainty in the sensor readings and uses the prior knowledge of each
cell to get
the postirior (new estimation) of the cells state.
|********************|
| CONFIG PARAMETERS |
|********************|
- MAXR (double)
- Default: "7.8"
- Maximium Laser Range, This must be smaller than the laser's maximum range,
especially for SICK lasers. Use 3.9 for Hokuyo URG.
- MINR (double)
- Default: "0.05"
- Minimium Laser Range
- period (double)
- Default: "0.1"
- Time in sec defining how frequently to grab laser scans
for scan matching. It is not a good idea to use maximum scans available on
a SICK.
0.1 to 0.2 works well depending on robot turnrate and speed.
- map_resolution (double)
- Default: "0.05"
- Pixel resolution in meter of the map to be build , a number close to the
laser
precision is wise.
- map_size (double)
- Default: 20
- This is defined from the origin to the boundary, so is actually half the
size of the
map PATCH, not the whole map.
- interpolate (bool)
- Default "1"
- 0 - Simple ICP, 1 - ICP with interpolation
- NIT (int)
- Default "10"
- Number of iterations for each scan-matching.
- gate1 (float)
- Default "0.5"
- 1st data association gate for each point in scan
- gate2 (float)
- Default "0.05"
- 2nd data association gate for each point in scan
- debug (bool)
- Defult: 0
- Display Debug Messeges
- Log (bool)
- Default: 0
- Loggs the Odom Data (x,y,theta,ltics,rtics,lspeed,rspeed)
- map_path(string)
- Default: "maps/"
- Specifies the locations where patches and logs are to be saved,
(make sure the directory exists)
- start_in(int)
- Default : 2
- Delay Before starting, unit is in seconds
- robot_id(int)
- Default : 0
- The Robot id assigned for map identification
- number_of_laser(int)
- Default : 1
- The number of lasers to be used in the scan matching (index starts from 0)
all lasers
should be declared in the requires section
@par Example
@verbatim
driver
(
name "MRICP_Driver"
requires ["position:0" "laser:0"]
provides ["position:1" "opaque:0" "map:0"]
plugin "MRICP.so"
MINR 0.05
MAXR 3.9
period 1
map_resolution 0.6
map_path maps/
number_of_lasers 2
start_in 1
interpolate 0
robot_id 1
NIT 15
log 1
)
|****************|
| STAGE TESTING |
|****************|
- The directory stage_test contains a stage configuration for testing
mricp. Simply run:
"player stage_mricp.cfg"
- Also in the stage_test directory is a simple client program, which
controls a robot with arrow keys and sends
PLAYER_POSITION_RESET_ODOM_REQ configuration requests when the "c" key
is pressed. Compile this utility with the "./compile_tclient" command.
- To test multiple laser support, modify the world file and add X laser models
to your robot (X is the number of lasers). Then modify your configuration file
so that stage provides that X laser interfaces.
Note: Laser pose is essential for the Mricp to work, specify the correct laser
poses.
Example :
your .world file should contain something like this for 2 Laser support
define sicklaser1 laser
(
range_min 0.0
range_max 8.0
fov 180.0
samples 180
color "LightBlue"
size [ 0.14 0.14 ]
pose [0.8 -0.15 0 ]
)
define sicklaser2 laser
(
range_min 0.0
range_max 8.0
fov 180.0
samples 180
color "LightBlue"
size [ 0.14 0.14 ]
pose [-0.10 0.15 -180 ]
)
# extend the wheelchair definition from wheelchair.inc
wheelchair
(
name "robot"
pose [14.2 -4.6 180]
sicklaser1()
sicklaser2()
)
and your configuration should contain something like:
driver
(
name "stage"
provides ["position:0" "laser:0" "laser:1"]
model "robot"
)
driver
(
name "MrIcpDriver"
plugin "MrIcpDriver.so"
provides ["position:1" "map:0"]
requires ["laser:0" "laser:1" "position:0"]
map_size 10
map_resolution 0.05
number_of_lasers 2
period 0.1
MAXR 7.5
MINR 0.05
debug 0
alwayson 1
log 1
)
JP 21/4/06
modified
TT 16/5/06
--- NEW FILE: Makefile.am ---
noinst_LTLIBRARIES =
if INCLUDE_MRICP
noinst_LTLIBRARIES += libmricp.la
endif
AM_CPPFLAGS = -Wall -I$(top_srcdir) -I./include @MRICP_CFLAGS@
libmricp_la_SOURCES = src/geometry2D.cpp src/icp.cpp src/lasermodel.cpp
src/map.cpp \
src/mricp_driver.cpp src/nn.cpp src/Timer.cpp \
include/geometry.h \
include/icp.h \
include/lasermodel.h \
include/map.h \
include/nn.h \
include/Timer.h
--- NEW FILE: doxy.Doxyfile ---
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