• launch/graphslam.launch
  • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile responsible for the mrpt_graphslam_2d application in a single agent setup. Refer to the README.md file for usage information
  • • output [default: screen]
    • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans.ini]
    • do_publish_gridmap_topic [default: true]
    • run_under_gdb [default: false]
    • anchor_frame_ID [default: map]
    • base_link_frame_ID [default: base_link]
    • odometry_frame_ID [default: odometry]
    • NRD [default: CFixedIntervalsNRD]
    • ERD [default: CICPCriteriaERD]
    • GSO [default: CLevMarqGSO]
    • is_mr_slam [default: false]
    • start_rviz [default: false]
    • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
    • disable_MRPT_visuals [default: false]
    • verbosity [default: 1]
• launch/setup_robot_for_mr_demo.launch
  • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Setup an individual agent that is to run multi-robot graphSLAM Users typically don't need to run this directly and are advised to use the csl_robots_gazebo/run_graphslam_demo.sh shell script which executes this launchfile as many times as the number of robots used for the demo
  • • new_robot_ns
    • verbosity [default: 1]
    • output [default: screen]
    • disable_MRPT_visuals [default: false]
    • config_file [default: $(find mrpt_graphslam_2d)/config/ros_odometry_2DRangeScans_LC_MR_real.ini]
    • NRD [default: CFixedIntervalsNRD_MR]
    • ERD [default: CLoopCloserERD_MR]
    • GSO [default: CLevMarqGSO]
• launch/sr_graphslam_demo.launch
  • Fri Nov 11 14:26:18 EET 2016, Nikos Koukis Launchfile for a simple demonstration of the mrpt_graphslam_2d algorithm in single robot situations. More elaborate demo files are built on top of this one such as the sr_graphslam_demo_gt.launch file
  • • output [default: screen]
    • robot_ns [default: /]
    • disable_MRPT_visuals [default: false]
    • verbosity [default: 0]
    • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/demo_short_loop]
    • bag_file [default: demo.bag]
    • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
    • bag_topic_remaps [default: /scan:=input/laser_scan]
    • config_file [default: $(find mrpt_graphslam_2d)/config/ros_laser_odometry.ini]
    • start_rviz [default: true]
    • rviz_file [default: $(find mrpt_graphslam_2d)/rviz/sr_graphslam.rviz]
    • anchor_frame_ID [default: map]
    • base_link_frame_ID [default: base_link]
    • laser_frame_ID [default: laser]
    • odometry_frame_ID [default: odometry]
    • NRD [default: CICPCriteriaNRD]
    • ERD [default: CICPCriteriaERD]
    • GSO [default: CLevMarqGSO]
    • is_mr_slam [default: false]
    • play_own_rosbag [default: true]
• launch/sr_graphslam_demo_gt.launch
  • Mon Oct 10 19:20:36 EEST 2016, Nikos Koukis Launchfile demonstrating the mrpt_graphslam_2d application. Ground-Truth path is also shown to compare with the algorithm trajectory estimation. Practically this constitutes a wrapper around the sr_graphslam_demo.launch file NOTES: - Do not define arguments not present in the sr_graphslam_demo due to the corresponding bug: https://github.com/ros/ros_comm/issues/889 WARNING: Make sure that you have downloaded the corresponding dataset from here: https://www.dropbox.com/sh/habf5mnc5404i66/AACvbzmAQ6UrYB4ix-6aVIc9a?dl=0. See the README.md file for more information on this
  • • output [default: screen]
    • disable_MRPT_visuals [default: false]
    • bag_dir [default: $(find mrpt_graphslam_2d)/rosbags/sr_graphslam_demo]
    • bag_file [default: records_with_gt.bag]
    • bag_file_full [default: $(arg bag_dir)/$(arg bag_file)]
    • start_rviz [default: true]

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