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https://github.com/toshikinakamura0412/emcl_ros

ROS implementation of emcl (mcl with expansion resetting)
https://github.com/toshikinakamura0412/emcl_ros

cpp dynamic-reconfigure localization mcl mit-license robotics ros ros-noetic

Last synced: 3 days ago
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ROS implementation of emcl (mcl with expansion resetting)

Host: GitHub
URL: https://github.com/toshikinakamura0412/emcl_ros
Owner: ToshikiNakamura0412
License: mit
Created: 2024-05-03T09:58:19.000Z (9 months ago)
Default Branch: master
Last Pushed: 2024-06-22T16:34:07.000Z (7 months ago)
Last Synced: 2024-11-20T21:58:45.240Z (2 months ago)
Topics: cpp, dynamic-reconfigure, localization, mcl, mit-license, robotics, ros, ros-noetic
Language: C++
Homepage:
Size: 147 KB
Stars: 1
Watchers: 1
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # emcl_ros

![Build Status](https://github.com/ToshikiNakamura0412/emcl_ros/workflows/build/badge.svg)

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

ROS implementation of emcl (mcl with expansion resetting)



  

  





  

  



Support Dynamic Reconfigure



  



## Environment

- Ubuntu 20.04

- ROS Noetic

## Install and Build

```

# clone repository

cd /path/to/your/catkin_ws/src

git clone https://github.com/ToshikiNakamura0412/emcl_ros.git

# build

cd /path/to/your/catkin_ws

rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies

catkin build emcl_ros -DCMAKE_BUILD_TYPE=Release        # Release build is recommended

```

## How to use

```

roslaunch emcl_ros emcl.launch

```

## Running the demo

```

# clone repository

cd /path/to/your/catkin_ws/src

git clone https://github.com/ToshikiNakamura0412/scan_to_pcl_ros.git

git clone https://github.com/ToshikiNakamura0412/gyrodometry_ros.git

git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build

cd /path/to/your/catkin_ws

rosdep install -riy --from-paths src --rosdistro noetic

catkin build -DCMAKE_BUILD_TYPE=Release

# run demo

## terminal 1

export TURTLEBOT3_MODEL=burger

roslaunch emcl_ros test.launch

## terminal 2

export TURTLEBOT3_MODEL=burger

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

```

### Use gyrodometry

```

roslaunch emcl_ros test.launch use_gyrodom:=true

```

## Node I/O

![Node I/O](images/node_io.png)

## Nodes

### emcl

#### Published Topics

- /emcl_pose (`geometry_msgs/PoseWithCovarianceStamped`)

  - The estimated pose of the robot

- /tf (`tf2_msgs/TFMessage`)

  - tf (from the global frame to the odom frame)

- ~\/particle_cloud (`geometry_msgs/PoseArray`)

  - The particle cloud of mcl

#### Subscribed Topics

- /cloud (`sensor_msgs/PointCloud2`)

  - The input pointcloud data

  - If ~\/use_cloud is false, this topic is not used

- /initialpose (`geometry_msgs/PoseWithCovarianceStamped`)

  - The initial pose of the robot

- /odom (`nav_msgs/Odometry`)

  - The odometry data

- /scan (`sensor_msgs/LaserScan`)

  - The input laser scan data (default)

#### Parameters

##### EMCL Parameters

- ~\/expansion_position_dev (float, default: `0.07` [m]):


  The standard deviation of the expansion noise in position

- ~\/expansion_orientation_dev (float, default: `0.2` [rad]):


  The standard deviation of the expansion noise in orientation

- ~\/init_x (float, default: `0.0` [m]):


  The initial x position of the robot

- ~\/init_y (float, default: `0.0` [m]):


  The initial y position of the robot

- ~\/init_yaw (float, default: `0.0` [rad]):


  The initial yaw of the robot

- ~\/init_position_dev (float, default: `0.1` [m]):


  The standard deviation of the initial noise in position

- ~\/init_orientation_dev (float, default: `0.05` [rad]):


  The standard deviation of the initial noise in orientation

- ~\/laser_step (int, default: `4`):


  The step of the laser scan

- ~\/likelihood_th (float, default: `0.002`):


  The threshold of the likelihood

- ~\/particle_num (int, default: `420`):


  The number of particles

- ~\/reset_count_limit (int, default: `3`):


  The limit of the reset count

- ~\/sensor_noise_ratio (float, default: `0.03`):


  The ratio of sensor noise to the actual sensor noise

- ~\/use_cloud (bool, default: `False`):


  If true, use pointcloud instead of laser scan

##### OdomModel Parameters

- ~\/ff (float, default: `0.17` [m]):


  Standard deviation of forward noise per forward

- ~\/fr (float, default: `0.0005` [m]):


  Standard deviation of forward noise per rotation

- ~\/rf (float, default: `0.13` [rad]):


  Standard deviation of rotation noise per forward

- ~\/rr (float, default: `0.2` [rad]):


  Standard deviation of rotation noise per rotation

##### Scan Parameters

If pointcloud is used, following parameters are used.

- ~\/range_min (float, default: `0.12` [m]):


  The minimum range of the sensor

- ~\/range_max (float, default: `3.5` [m]):


  The maximum range of the sensor

##### Common Parameters

- ~\/use_dynamic_reconfigure (bool, default: `False`):


  If true, use dynamic reconfigure

## References

- 上田隆一, "詳解 確率ロボティクス Pythonによる基礎アルゴリズムの実装", Kodansya, 2019

- https://github.com/ryuichiueda/emcl

- 赤井直紀, "LiDARを用いた高度自己位置推定システム - 移動ロボットのための自己位置推定の高性能化とその実装例", コロナ社, 2022

- https://github.com/NaokiAkai/ALSEdu