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ROS package for merging 3D maps

License: Other

CMake 4.24% C++ 95.76%

pcl robotics ros

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map-merge's Issues

when I catkin_make，occur the following problem

Map not correctly matched

Hi;

I'm trying to use the node to merge two point clouds, one coming from a Ouster OS0 and another coming for an OS1 mounted in two huskies, all simulated in gazebo. When I run the node it subscribes to the point clouds, and generate a map, but it is not correct matched, as you can see:

I am using it on Ubuntu 18.04, with the default configuration. Have you any idea why this happens?

about the package

Hi
I have download the package , but when i catkin_make , some errors occur . Could you help me to slove these errors?

Issue in merging PointCloud2 data

I have the input of multiple pointcloud2 input obtained from the simulated VLP16 sensor in different robots and attempt to combine the point cloud topics from all the robots into one point cloud before feeding it into octomap,
The pointcloud2 stream I used to input is "velodyne_points" and I have the namespace of the turtlebot defined as "tb3_1".

The declaration of the launch file is set up as follows:

    <node pkg="map_merge_3d" type="map_merge_node" respawn="false" name="map_merge_node"  output="screen">
        <param name="robot_map_topic" value="velodyne_points" />
        <param name="robot_namespace" value="tb3" />
        <param name="merged_map_topic" value="merged_map2" />
        <param name="world_frame" value="world" />
        <param name="discovery_rate" value="0.05" />
        <param name="estimation_rate" value="0.01" />
        <param name="compositing_rate" value="0.3"/>
        <param name="publish_tf" value="true"/>
      </node>

The setup I am using is ROS Melodic with PCL 1.8.1+dfsg1-2ubuntu2.18.04.1
however, I keep getting the following error message:

[pcl::PFHEstimation::compute] input_ is empty!
[pcl::PFHEstimation::initCompute] Init failed.
[pcl::PFHEstimation::compute] input_ is empty!
[pcl::PFHEstimation::initCompute] Init failed.
[pcl::PFHEstimation::compute] input_ is empty!
[pcl::PFHEstimation::initCompute] Init failed.

Let me know if there is a solution or I have done the configuration wrongly.
Thanks.

[DEBUG] [1587718924.857625329, 4961.870000000]: received map update
[DEBUG] [1587718924.861070997, 4961.874000000]: received map update
[DEBUG] [1587718925.630798058, 4962.626000000]: Map compositing started.

However, eventually I get the following errors after which the node crashes

[pcl::ShapeContext3DEstimation::compute] input_ is empty!
[pcl::ShapeContext3DEstimation::initCompute] Init failed.
[pcl::ShapeContext3DEstimation::initCompute] Init failed.
[pcl::ShapeContext3DEstimation::compute] input_ is empty!
[pcl::ShapeContext3DEstimation::initCompute] Init failed.
[pcl::ShapeContext3DEstimation::initCompute] Init failed.

It does this with all types of descriptors.

I have tried before to merge maps generated by rtabmap and was done successfully. However, it doesn't seem to work with octomap.

@hrnr Any help is appreciated.

Here is the launch file I am using in case it helps in debugging.

<launch>
    <!--
        Reference : http://wiki.ros.org/map_merge_3d
    -->
    <arg name="rtabmap" default="true"/>
    <arg name="octomap" default="false"/>

    <arg if="$(arg rtabmap)" name="robot_map_topic" value="cloud_map"/>
    <arg if="$(arg octomap)" name="robot_map_topic" value="octomap_point_cloud_centers"/>

    <group ns="map_merge">
        <node pkg="map_merge_3d" type="map_merge_node" respawn="false" name="map_merge_3d" output="screen">
            <param name="robot_map_topic" value="$(arg robot_map_topic)"/>
            <param name="robot_namespace" value=""/>
            <param name="merged_map_topic" value="map"/>
            <param name="world_frame" value="world"/>
            <param name="compositing_rate" value="1.0"/>
            <param name="discovery_rate" value="0.05"/>
            <param name="estimation_rate" value="0.01"/>
            <param name="publish_tf" value="true"/>
            <!-- and all the other map merging parameters -->
            <param name="resolution" value="0.05"/>
            <param name="descriptor_type" value="SHOT" /> <!--PFH, PFHRGB, FPFH, RSD, SHOT, SC3D -->
            <param name="matching_k" value="5" />
            <param name="confidence_threshold" value="0.0"/>
            <param name="output_resolution" value="0.05"/>
            <param name="estimation_method" value="MATCHING"/> <!-- MATCHING, SAC_IA-->
            <param name="keypoint_type" value="SIFT" /> <!-- HARRIS, SIFT-->
        </node>
    </group>
</launch>

hrnr / map-merge Goto Github PK

map-merge's People

Contributors

Stargazers

Watchers

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map-merge's Issues

when I catkin_make，occur the following problem

Map not correctly matched

about the package

Issue in merging PointCloud2 data

Can I run it for simulated environment?

Does this data only supports XYZRGB? Can supports XYZI?

ROS2 roadmap

Does this package support pcl::PointXYZI?

Issue in merging octomaps (Input is Empty)

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