• launch/experiment.launch
  • • do_slam [default: true] — (bool)[Default: true] Run the OpenSlam Gmapping Node.
    • do_plots [default: false] — (bool)[Default: true] Run the fmp_plot and occ_map_saver nodes to save the statistical and occupation plots of the map.
    • do_error [default: true] — (bool)[Default: true] Run the pose_error_calc node to save each pose and the relative error of the SLAM corrected pose w.r.t the ground-truth pose.
    • do_gtmap [default: true] — (bool)[Default: true] Run the gt_mapping node for generating the Ground-Truth map.
    • do_odo [default: true] — (bool)[Default: true] Run the gt_mapping node for generation the Pure Odometry map.
    • do_rviz [default: true] — (bool)[Default: true] Run RVIZ to visualize the progress graphically in real time.
    • do_gsp_debug [default: true] — (bool)[Default: true] Output all of the GridSlam Processor data to a csv file.
    • do_coll_err [default: false] — (bool)[Default: false] Collect error values from multiple runs in a single csv file.
    • mm [default: dec] — (string)[Default: ref] Map Model. Can take values of * ref for Reflection Map or * dec for Exponential Decay Map.
    • pw [default: cmh] — (string)[Default: cmh] Particle weighting method. Can take values of * cmh for Closest Mean Hit, * fsm for Forward Sensor Model and * ml for Measurement Likelihood.
    • alpha0 [default: 1.0] — (float)[Default: 1.0] Value for the alpha parameter of the prior distribution.
    • beta0 [default: $(eval 0.000001 if mm_dcy else 1.0)] — (float)[Default: 1 for Ref, 1e-6 for Dec] Value for the beta parameter of the prior distribution.
    • exp_pfx [default: exp] — (string)[Default: exp] Prefix for the experiment directory.
    • resolution [default: 0.05] — (float)[Default: 0.05] Map resolution in [m].
    • occ_threshold [default: 0.25] — (float)[Default: 0.25] Threshold for determining whether a cell is occupied or free.
    • ocuw [default: 0.0] — (float)[Default: 0.0] Weight of a Uniform Distribution to be added to the measurement likelihoods to avoid overconfidence
    • doPoseImprove [default: true] — (bool)[Default: true] Run scan matching for pose improvement if true.
    • publishAvgPose [default: true] — (bool)[Default: true] Use weighted average pose over all particles instead of only the most likely.
    • sim_pause [default: false] — (bool)[Default: false] Start the ROSbag in a paused state. Recommended to allow for the other nodes to initialize.
    • sim_quiet [default: false] — (bool)[Default: false] Run the ROSbag quietly.
    • cfg_rviz_file [default: $(arg path_cfg_rviz)/default.rviz] — (string)[Default: $(find map_simulator)/cfg/rviz/experiment.rviz] Path to an RVIZ configuration file.
    • ts [default: 880910_052410] — (string)[Default: 880910_052410] Timestamp to be used for the save directory. It should be set to ts:=`date +'%Y%M%D_%h%m%s'`
    • pfx_mm [default: $(eval 'dec' if mm_dcy else 'rfl')]
    • pfx_pw [default: $(eval 'fsm' if pw_fsm else ('ml' if pw_ml else 'cmh'))]
    • path_prefix [default: $(env HOME)/Desktop/Experiments/IndividualExperiments] — Main directory where experiment sub-folders will be created
    • path_save [default: $(arg path_prefix)/$(arg exp_pfx)_$(arg ts)_$(arg pfx_mm)_$(arg pfx_pw)] — (string)[Default: ~/Desktop/Experiments/IndividualExperiments/${exp_pfx}_${ts}_${pfx_mm}_${pfx_pw}/] Path for saving the experiment results.
    • path_log [default: $(arg path_save)/log] — (string)[Default: ${path_save}/log] Path for storing the nodes' logs.
    • path_save_img [default: $(arg path_save)/img] — (string)[Default: ${path_save}/img] Path for storing the result images.
    • path_save_occ [default: $(arg path_save)/img/occ] — (string)[Default: ${path_save}/img/occ] Path for storing the result occupancy images.
    • path_save_err [default: $(arg path_save)/err] — (string)[Default: ${path_save}/err] Path for storing the pose error file.
    • path_err_coll_path [default: $(arg path_save)/err] — (string)[Default: ${path_save}/err] Path for storing the accumulated pose error file.
    • path_err_coll_pfx [default: err_coll] — (string)[Default: err_coll] Prefix for the collected error file names.
    • bag_file [default: $(find map_simulator)/rosbags/Robot_10Loop_noisy_3_2pi_180rays.bag] — (string)[Default: path to simulated Robot_10Loop rosbag] Explicit path to ROSBag to execute if 10Loop is not desired.
• launch/experiment_real_data.launch
  • • do_slam [default: true] — (bool)[Default: true] Run the OpenSlam Gmapping Node.
    • do_plots [default: true] — (bool)[Default: true] Run the fmp_plot and occ_map_saver nodes to save the statistical and occupation plots of the map.
    • do_error [default: false] — (bool)[Default: true] Run the pose_error_calc node to save each pose and the relative error of the SLAM corrected pose w.r.t the ground-truth pose.
    • do_gtmap [default: false] — (bool)[Default: true] Run the gt_mapping node for generating the Ground-Truth map.
    • do_odo [default: false] — (bool)[Default: true] Run the gt_mapping node for generation the Pure Odometry map.
    • do_rviz [default: true] — (bool)[Default: true] Run RVIZ to visualize the progress graphically in real time.
    • do_gsp_debug [default: true] — (bool)[Default: true] Output all of the GridSlam Processor data to a csv file.
    • do_coll_err [default: false] — (bool)[Default: false] Collect error values from multiple runs in a single csv file.
    • bag [default: 10Loop] — (string)[Default: 10Loop] Bag file to be opened. If a specific file is to be desired, use the bag_file argument. Can take values of: * 10Loop: for the 10Loop Simulation ROSBag * 10Cell: for the 10Cell Simulation ROSBag
    • mm [default: ref] — (string)[Default: ref] Map Model. Can take values of * ref for Reflection Map or * dec for Exponential Decay Map.
    • pw [default: cmh] — (string)[Default: cmh] Particle weighting method. Can take values of * cmh for Closest Mean Hit, * fsm for Forward Sensor Model and * ml for Measurement Likelihood.
    • alpha0 [default: 1.0] — (float)[Default: 1.0] Value for the alpha parameter of the prior distribution.
    • beta0 [default: $(eval 0.000001 if mm_dcy else 1.0)] — (float)[Default: 1 for Ref, 1e-6 for Dec] Value for the beta parameter of the prior distribution.
    • exp_pfx [default: exp] — (string)[Default: exp] Prefix for the experiment directory.
    • resolution [default: 0.2] — (float)[Default: 0.05] Map resolution in [m].
    • occ_threshold [default: 0.25] — (float)[Default: 0.25] Threshold for determining whether a cell is occupied or free.
    • ocuw [default: 0.2] — (float)[Default: 0.0] Weight of a Uniform Distribution to be added to the measurement likelihoods to avoid overconfidence
    • doPoseImprove [default: false] — (bool)[Default: true] Run scan matching for pose improvement if true.
    • publishAvgPose [default: false] — (bool)[Default: true] Use weighted average pose over all particles instead of only the most likely.
    • sim_pause [default: false] — (bool)[Default: false] Start the ROSbag in a paused state. Recommended to allow for the other nodes to initialize.
    • sim_quiet [default: false] — (bool)[Default: false] Run the ROSbag quietly.
    • cfg_rviz_file [default: $(arg path_cfg_rviz)/experiment.rviz] — (string)[Default: $(find map_simulator)/cfg/rviz/experiment.rviz] Path to an RVIZ configuration file.
    • ts [default: 880910_052410] — (string)[Default: 880910_052410] Timestamp to be used for the save directory. It should be set to ts:=`date +'%Y%M%D_%h%m%s'`
    • pfx_mm [default: $(eval 'dec' if mm_dcy else 'rfl')]
    • pfx_pw [default: $(eval 'fsm' if pw_fsm else ('ml' if pw_ml else 'cmh'))]
    • path_prefix [default: $(env HOME)/Desktop/Experiments/IndividualExperiments] — Main directory where experiment sub-folders will be created
    • path_save [default: $(arg path_prefix)/$(arg exp_pfx)_$(arg ts)_$(arg pfx_mm)_$(arg pfx_pw)] — (string)[Default: ~/Desktop/Experiments/IndividualExperiments/${exp_pfx}_${ts}_${pfx_mm}_${pfx_pw}/] Path for saving the experiment results.
    • path_log [default: $(arg path_save)/log] — (string)[Default: ${path_save}/log] Path for storing the nodes' logs.
    • path_save_img [default: $(arg path_save)/img] — (string)[Default: ${path_save}/img] Path for storing the result images.
    • path_save_occ [default: $(arg path_save)/img/occ] — (string)[Default: ${path_save}/img/occ] Path for storing the result occupancy images.
    • path_save_err [default: $(arg path_save)/err] — (string)[Default: ${path_save}/err] Path for storing the pose error file.
    • path_err_coll_path [default: $(arg path_save)/err] — (string)[Default: ${path_save}/err] Path for storing the accumulated pose error file.
    • path_err_coll_pfx [default: err_coll] — (string)[Default: err_coll] Prefix for the collected error file names.
    • bag_file [default: $(arg path_data)/Freiburg/101/fr101.raw.2.bag] — (string)[Default: path to either Robot_10Loop or Robot_10Cell bags depending on $bag] Explicit path to ROSBag to execute if neither 10Loop nor 10Cell are desired.
• launch/gt_map.launch
  • • ts — (string)[Default: 880910_052410] Timestamp to be used for the save directory. It should be set to ts:=`date +'%Y%M%D_%h%m%s'`
    • occ_threshold [default: 0.25] — (float)[Default: 0.25] Threshold for determining whether a cell is occupied or free.
    • max_scan_buffer_len [default: 10000] — (int)[Default: 10000] Maximum size for the scan buffer.
    • resolution [default: 0.2] — (float)[Default: 0.2] Map resolution in [m].
    • do_rviz [default: true] — (bool)[Default: true] Run RVIZ to visualize the progress graphically in real time.
    • sim_pause [default: false] — (bool)[Default: false] Start the ROSbag in a paused state. Recommended to allow for the other nodes to initialize.
    • sim_quiet [default: false] — (bool)[Default: false] Run the ROSbag quietly.
    • path_save [default: $(env HOME)/Desktop/Experiments/DataSetGT/$(arg ts)] — (string)[Default: ~/Desktop/Experiments/DataSetGT/] Path for saving the experiment results.
    • path_save_occ [default: $(arg path_save)/img/occ] — (string)[Default: ${path_save}/img/occ] Path for storing the result occupancy images.
    • cfg_rviz_file [default: $(arg path_cfg_rviz)/gt_map.rviz] — (string)[Default: $(find map_simulator)/cfg/rviz/experiment.rviz] Path to an RVIZ configuration file.
    • bag_file [default: $(arg path_data)/Freiburg/079/fr079-complete.gfs.2.bag] — (string)[Default: path to either Robot_10Loop or Robot_10Cell bags depending on $bag] Explicit path to ROSBag to execute if neither 10Loop nor 10Cell are desired.
• launch/test_computeR.launch
  • • cfg_rviz_file [default: $(arg path_cfg_rviz)/experiment.rviz] — (string)[Default: $(find map_simulator)/cfg/rviz/experiment.rviz] Path to an RVIZ configuration file.
    • bag_file [default: $(arg path_data)/Simulations/Robot_CellTest_det_8ray.bag]

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