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23 Comments

  1. leon yanoff leon yanoff

    when i use the package of slam_karto_g2o ,i find that the open_karto version is not the same as mine. will you provide the correct version?

      • leon yanoff leon yanoff

        i used the latest version on Seroquel apotheke. while the Class Mapper donot have member function like setParamDoLoopClosingWithoutScanMatching

        • sauravagarwal sauravagarwal

          That was a little change I made to open karto myself and forgot to remove earlier. Now, I have removed that particular parameter loading. Please pull the latest version and try using it.

          • Aswin Aswin

            Was this parameter loading removed?

            I get slam_karto_gtsam.cpp:170:14: error: ‘class karto::Mapper’ has no member named ‘setParamDoLoopClosingWithoutScanMatching’
            mapper_->setParamDoLoopClosingWithoutScanMatching(do_loop_closing_without_scan_matching);
            ^

          • sauravagarwal sauravagarwal

            Hi Aswin, thanks for bringing this to my attention. Yes this parameter was removed.

    • sauravagarwal sauravagarwal

      Can you provide more details?

      • Lv Chaoshun Lv Chaoshun

        Hi sauravagarwal :
        I am so glad that you can reply me, I have found the problem, the parameter need to adjust, thank you!

        and I found the G2O was no better than SPA. sometimes the G2O cannot loop closure.

  2. Lv Chaoshun Lv Chaoshun

    Hi sauravagarwal:
    Did you know how to save my pose graph, and reload it to continue mapping when next time?

    • sauravagarwal sauravagarwal

      That’s a great question! for SRI Karto you may have to write your own function to write out the pose-graph in the form of an xml or something else. It’s not too hard but something that doesn’t exist. On the other hand you can try google cartographer which does allow you to write out the map.

  3. Jad Jad

    Do you know any front ends for pose-graph slam that use landmark measurements (range and bearing), instead of laser scans?

    • sauravagarwal sauravagarwal

      You can use fiducial marker libraries like Aruco which will give you data association and range/bearing measurements to unique landmarks. If you’re looking for a more generic landmark based system, then I’m not too aware.

  4. Dandan Dandan

    Hi,

    Thanks for your sharing. I just have a few questions about using open karto for pose-to-pose odometry. Since open-karto also needs an odometric pose as input, what odometric source do you provide with open-karto? And in this case, odometric source publishes to odom frame, open-karto corrects it and publishes the result to map frame? Is it?

    Thanks a lot for your help.

    • sauravagarwal sauravagarwal

      Usually wheel odometry is a good odometry source. Yes odometric source publishes to odom frame, open-karto corrects it and publishes the result to map frame

      • Danx Danx

        Thanks. And I tried to use “wheel odom -> karto map” to generate the closed map from the first tour. And it works pretty good. And then for the later-on tours, I don’t need a new map anymore. I just need to localize the robot with the map (from first tour) and navigation.

        For this need, can I also use open-karto for localization only, since I feel its scan match is pretty powerful? I tried to set the tf tree as “wheel odom -> open karto frame -. amcl map frame”. And of course, amcl is provided with the generated map from the first tour. Do you think it is a good choice? Or do you have other suggestions? And in my environment, wheel-odom is not accurate enough to provide odometry for amcl.

        • sauravagarwal sauravagarwal

          What you’re trying to do is better achieved by cartographer. Cartographer doesn’t need external odometry sources. If you have any IMU and a Lidar you can get away with pretty good results.

  5. Milad Milad

    Hi,

    I am quite new in ROS. When I catkin build the pkg there is no launch folder. Would you please help with my concern.

    Thanks

  6. Jack Lee Jack Lee

    Hi sauravagarwal:
    I’m not very familiar with ROS and I am learning karto. I have downloaded the slam_karto and roslaunch the build_map_w_params.launch, what bag I paly is intel.bag ,I can see the laser points, but I can’t see the map from rviz . I can see /map in topiclist while i can’t see the map in rqt_graph. At first I thought the pack of slam_karto did not work, so I downloaded slam_karto_g2o but the results were the same.It’s been bothering me for a long time, and I can’t figure it out.Could you help me?

    • sauravagarwal sauravagarwal

      make sure the odometry is available and sent on the right topic at which the slam system wants it. Top culprits can be missing odometry or mismatched topic names. I have never tried it on the intel bag so i am not sure what data sources it contains.

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