https://github.com/osll/tiny_slam-release

ROS tiny_slam release
https://github.com/osll/tiny_slam-release

Last synced: about 2 months ago
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ROS tiny_slam release

• Host: GitHub
• URL: https://github.com/osll/tiny_slam-release
• Owner: OSLL
• Created: 2016-07-15T20:08:17.000Z (almost 10 years ago)
• Default Branch: master
• Last Pushed: 2016-08-08T16:52:49.000Z (over 9 years ago)
• Last Synced: 2025-02-21T14:16:07.594Z (about 1 year ago)
• Size: 127 KB
• Stars: 1
• Watchers: 3
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
## tiny_slam (indigo) - 0.1.2-0

The packages in the `tiny_slam` repository were released into the `indigo` distro by running `/usr/bin/bloom-release --ros-distro indigo --track indigo tiny_slam` on `Mon, 08 Aug 2016 16:52:31 -0000`

The `tiny_slam` package was released.

Version of package(s) in repository `tiny_slam`:

- upstream repository: https://github.com/OSLL/tiny-slam-ros-cpp.git

- release repository: unknown

- rosdistro version: `null`

- old version: `null`

- new version: `0.1.2-0`

Versions of tools used:

- bloom version: `0.5.21`

- catkin_pkg version: `0.2.10`

- rosdep version: `0.11.5`

- rosdistro version: `0.4.7`

- vcstools version: `0.1.38`

## tiny_slam (kinetic) - 0.1.2-1

The packages in the `tiny_slam` repository were released into the `kinetic` distro by running `/usr/bin/bloom-release --ros-distro kinetic --track kinetic tiny_slam` on `Mon, 08 Aug 2016 08:22:54 -0000`

The `tiny_slam` package was released.

Version of package(s) in repository `tiny_slam`:

- upstream repository: https://github.com/OSLL/tiny-slam-ros-cpp.git

- release repository: https://github.com/OSLL/tiny-slam-ros-release.git

- rosdistro version: `0.1.2-0`

- old version: `0.1.2-0`

- new version: `0.1.2-1`

Versions of tools used:

- bloom version: `0.5.21`

- catkin_pkg version: `0.2.10`

- rosdep version: `0.11.5`

- rosdistro version: `0.4.7`

- vcstools version: `0.1.38`

## tiny_slam (jade) - 0.1.2-3

The packages in the `tiny_slam` repository were released into the `jade` distro by running `/usr/bin/bloom-release --ros-distro jade --track jade tiny_slam` on `Mon, 08 Aug 2016 08:20:00 -0000`

The `tiny_slam` package was released.

Version of package(s) in repository `tiny_slam`:

- upstream repository: https://github.com/OSLL/tiny-slam-ros-cpp.git

- release repository: https://github.com/OSLL/tiny-slam-ros-release.git

- rosdistro version: `0.1.2-2`

- old version: `0.1.2-2`

- new version: `0.1.2-3`

Versions of tools used:

- bloom version: `0.5.21`

- catkin_pkg version: `0.2.10`

- rosdep version: `0.11.5`

- rosdistro version: `0.4.7`

- vcstools version: `0.1.38`

## tiny_slam (kinetic) - 0.1.2-0

The packages in the `tiny_slam` repository were released into the `kinetic` distro by running `/usr/bin/bloom-release tiny_slam --track kinetic --rosdistro kinetic` on `Fri, 05 Aug 2016 12:20:55 -0000`

The `tiny_slam` package was released.

Version of package(s) in repository `tiny_slam`:

- upstream repository: https://github.com/OSLL/tiny-slam-ros-cpp.git

- release repository: unknown

- rosdistro version: `null`

- old version: `null`

- new version: `0.1.2-0`

Versions of tools used:

- bloom version: `0.5.21`

- catkin_pkg version: `0.2.10`

- rosdep version: `0.11.5`

- rosdistro version: `0.4.7`

- vcstools version: `0.1.38`

## tiny_slam (jade) - 0.1.2-2

The packages in the `tiny_slam` repository were released into the `jade` distro by running `/usr/bin/bloom-release tiny_slam --track jade --rosdistro jade` on `Fri, 05 Aug 2016 12:13:59 -0000`

The `tiny_slam` package was released.

Version of package(s) in repository `tiny_slam`:

- upstream repository: https://github.com/OSLL/tiny-slam-ros-cpp.git

- release repository: https://github.com/OSLL/tiny-slam-ros-release.git

- rosdistro version: `0.1.2-1`

- old version: `0.1.2-1`

- new version: `0.1.2-2`

Versions of tools used:

- bloom version: `0.5.21`

- catkin_pkg version: `0.2.10`

- rosdep version: `0.11.5`

- rosdistro version: `0.4.7`

- vcstools version: `0.1.38`

## git@github.com:OSLL/tiny_slam-release.git (jade) - 0.1.2-1

The packages in the `git@github.com:OSLL/tiny_slam-release.git` repository were released into the `jade` distro by running `/usr/bin/bloom-release --rosdistro jade --track jade git@github.com:OSLL/tiny_slam-release.git` on `Fri, 15 Jul 2016 20:44:23 -0000`

The `tiny_slam` package was released.

Version of package(s) in repository `git@github.com:OSLL/tiny_slam-release.git`:

- upstream repository: https://github.com/OSLL/tiny-slam-ros-cpp.git

- release repository: unknown

- rosdistro version: `null`

- old version: `0.1.2-0`

- new version: `0.1.2-1`

Versions of tools used:

- bloom version: `0.5.21`

- catkin_pkg version: `0.2.10`

- rosdep version: `0.11.5`

- rosdistro version: `0.4.7`

- vcstools version: `0.1.38`

## git@github.com:OSLL/tiny_slam-release.git (jade) - 0.1.2-0

The packages in the `git@github.com:OSLL/tiny_slam-release.git` repository were released into the `jade` distro by running `/usr/bin/bloom-release --rosdistro jade --track jade git@github.com:OSLL/tiny_slam-release.git` on `Fri, 15 Jul 2016 20:38:08 -0000`

The `tiny_slam` package was released.

Version of package(s) in repository `git@github.com:OSLL/tiny_slam-release.git`:

- upstream repository: https://github.com/OSLL/tiny-slam-ros-cpp.git

- release repository: unknown

- rosdistro version: `null`

- old version: `null`

- new version: `0.1.2-0`

Versions of tools used:

- bloom version: `0.5.21`

- catkin_pkg version: `0.2.10`

- rosdep version: `0.11.5`

- rosdistro version: `0.4.7`

- vcstools version: `0.1.38`

Copyright (c) 2016 JetBrains Research, Mobile Robot Algorithms Laboratory

Authors: Artur Huletski, Dmitriy Kartashov

TinySLAM C++ implementation for ROS

[![Build Status](http://build.ros.org/buildStatus/icon?job=Jdoc__tiny_slam__ubuntu_trusty_amd64)](http://build.ros.org/job/Jdoc__tiny_slam__ubuntu_trusty_amd64/)

# Description

This package provides ROS implentation of the tinySLAM (https://openslam.org/tinyslam.html) that is one of the most simpliest and lightweight SLAM methods. Current implementation is compatible with ROS Jade and adds some improvements to the original method:

the alternative model of a grid map cell that keeps track of the average of all stored effective values (probability of being occupied with scan’s quality taken into account);

an option to compute probability of a cell being occupied based on how the laser beam splits the cell (the original implementation uses the constant value).

# Hardware Requirements

Current implementation supposes that the robot provides odometry data and laser scan measurements from the horizontally mounted fixed laser scanner. These data should be provided through the ROS topics (see Subscribed topics).

# Example

Use the provided launch-file to run and configure tinySLAM node:

> roslaunch tiny_slam tinyslam_run.launch path:=[path to dataset]

Dataset should be in BAG format (http://wiki.ros.org/rosbag). You also may comment out rosbag node in the launch file if you use the real-time data or replace it with some other dataset player.

# Nodes 

## tiny_slam

The tiny_slam node takes in [sensor_msgs/LaserScan](http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html) messages and odometry data from /tf topic and builds a map ([nav_msgs/OccupancyGrid](http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html)) that can be retrieved via the ROS topic /map.

### Subscribed Topics

* tf ([tf/tfMessage](http://docs.ros.org/api/tf/html/msg/tfMessage.html)) Transforms necessary to relate frames for laser, base, and odometry (see below)

* laser_scan ([sensor_msgs/LaserScan](http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html)) Laser scans to create the map from

### Published Topics

* map ([nav_msgs/OccupancyGrid](http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html)) Get the map data from this topic (updated periodically)

### Parameters

* **~cell_type** (string, default: “avg”)

Accepted values: “avg” -- modified cell model; “base” -- original cell model

* **~occupancy_estimator** (string, default: "const")

Accepted values: “const” -- original occupancy estimator; “area” -- dynamic occupancy estimator

* **~skip_exceeding_lsr_vals** (boolean, default: false)

Determines how to handle out of range laser measurements: true -- ignore such measurements, false -- process as empty cells.

* **~base_occupied_prob** (float, default: 0.95)

The initial probability of cell to be occupied (i.e. the probability of laser scan data to be valid)

* **~base_empty_prob** (float, default: 0.01)

The initial probability of cell to be empty (i.e. the probability of out of range laser scan data to be valid)

### Required tf Transforms

*base_link → odom_combined*: usually provided by the odometry system (e.g., the driver for the mobile base)

### Provided tf Transforms

*map → robot_pose*: the current estimate of the robot's pose within the map frame