Commit e07ca78e authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Updated documentation

parent 07ec5f42
## Description
This node provides a global localization based on landmarks. On the ADC competition, these landmarks are [ar_track_alvar](http://wiki.ros.org/ar_track_alvar) tags. This node takes the filtered ar tag detections of both cameras and optimizes a landmark based slam problem to get the robot position. It uses [Ceres Solver](http://ceres-solver.org/index.html) to make the optimization.
This node provides a global localization based on landmarks. On the ADC competition, these landmarks are [ar_track_alvar](http://wiki.ros.org/ar_track_alvar) tags. This node takes the filtered ar tag detections of both cameras and optimizes a landmark based slam problem to get the robot position. A landmarks based slam problem is the problem of optimize a window of robot poses with a map of landmarks. It uses [Ceres Solver](http://ceres-solver.org/index.html) to make the optimization.
The following image is a skecth of the input and output of the node.
The following image is a basic representation of the slam problem.
# ROS Interface
### Topic publishers
- ~**frame_data** (visualization_msgs/MarkerArray.msg)
- ~**landmarks** (visualization_msgs/MarkerArray.msg)
- ~**landmarks_localization_pose** (geometry_msgs/PoseWithCovarianceStamped.msg)
- /**tf** (tf/tfMessage)
- ~**frame_data** (visualization_msgs/MarkerArray.msg): Visualization of the current slam problem. Red arrows represent the robot pose. Blue lines represent the landmarks seen from each robot pose.
- ~**landmarks** (visualization_msgs/MarkerArray.msg): Visualization of the landmarks map for debugging purposes. The blue ones are detected on the current time.
- ~**landmarks_localization_pose** (geometry_msgs/PoseWithCovarianceStamped.msg): Robot global estimated pose with covariance.
- /**tf** (tf/tfMessage): To publish the transformation between map and odom if enabled.
### Topic subscribers
- ~**initialpose** (geometry_msgs/PoseWithCovarianceStamped.msg)
- ~**estimated_pose** (geometry_msgs/PoseWithCovarianceStamped.msg)
- /**tf** (tf/tfMessage)
- ~**landmarks** (iri_adc_msgs/landmark_array.msg)
- ~**initialpose** (geometry_msgs/PoseWithCovarianceStamped.msg): Topic to initialize the slam problem with a robot initial pose.
- ~**estimated_pose** (geometry_msgs/PoseWithCovarianceStamped.msg): Topic to accept estimated poses from other localizations.
- /**tf** (tf/tfMessage): Tf to listen the transforms between odom an robot's base link and between the robot's base link and the sensors.
- ~**front_features** (iri_adc_msgs/feature_array.msg): Incoming detections from the front camera.
- ~**rear_features** (iri_adc_msgs/feature_array.msg): Incoming detections from the rear camera.
### Parameters
- ~**rate** (Double; default: 10.0; min: 0.1; max: 1000) The main node thread loop rate in Hz.
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