Several improvements to be more ROS compatible. #5
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| sudo: required | ||
| dist: trusty | ||
| language: generic | ||
| compiler: | ||
| - gcc | ||
| notifications: | ||
| email: | ||
| on_success: always | ||
| on_failure: always | ||
| # recipients: | ||
| # - jane@doe | ||
| env: | ||
| matrix: | ||
| - USE_DEB=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu | ||
| - USE_DEB=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu | ||
| - USE_DEB=true ROS_DISTRO="indigo" PRERELEASE=true | ||
| - USE_DEB=true ROS_DISTRO="jade" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu | ||
| - USE_DEB=true ROS_DISTRO="jade" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu | ||
| - USE_DEB=true ROS_DISTRO="jade" PRERELEASE=true | ||
| - USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu | ||
| - USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu | ||
| - USE_DEB=true ROS_DISTRO="kinetic" PRERELEASE=true | ||
| matrix: | ||
| allow_failures: | ||
| - env: USE_DEB=true ROS_DISTRO="indigo" PRERELEASE=true | ||
| - env: USE_DEB=true ROS_DISTRO="jade" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu | ||
| - env: USE_DEB=true ROS_DISTRO="jade" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu | ||
| - env: USE_DEB=true ROS_DISTRO="jade" PRERELEASE=true | ||
| - env: USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu | ||
| - env: USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu | ||
| - env: USE_DEB=true ROS_DISTRO="kinetic" PRERELEASE=true | ||
| install: | ||
| - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config | ||
| script: | ||
| - source .ci_config/travis.sh | ||
| # - source ./travis.sh # Enable this when you have a package-local script | ||
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| # RatSLAM ROS (OpenRatSLAM) | ||
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| [](https://travis-ci.org/sem23/ratslam) | ||
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| ## Package Summary | ||
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| This package contains the RatSLAM sources including ROS wrappers. The package provides a biological inspired monocular | ||
| vision SLAM (Simultaneous Localization and Mapping) system. Using this system you can create a topological map of the | ||
| environment, which means there are just paths and **no** gridmap, like an occupancy grid. As a gimmick, the system is | ||
| able to perfom pathplanning on the current map. | ||
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| Authors Documentation:<br> | ||
| The ROS version of RatSLAM has been designed as a more modular version than the other library in this project - the algorithm has been divided into 3 individual RatSLAM ROS nodes and one visual odometry node. This version is referred to as OpenRatSLAM. | ||
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| OpenRatSLAM is based on the RatSLAM C++ library written by David Ball and Scott Heath, with support and additions by Michael Milford. The RatSLAM algorithm was originally designed and implemented by Michael Milford and Gordon Wyeth. | ||
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| OpenRatSLAM has only been tested on Ubuntu and as ROS support for platforms other than Linux is still limited, this will probably not change. | ||
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| * Maintainer status: maintained | ||
| * Maintainers: David M. Ball \<davidmichaelball AT gmail DOT com\>, Peter Rudolph \<semael23 AT gmail DOT com\> | ||
| * Authors: Michael Milford and Gordon Wyeth (RatSLAM), David Ball and Scott Heath (RatSLAM C++), David M. Ball (OpenRatSLAM) | ||
| * License: GNU General Public License v3.0 | ||
| * Source: git https://github.com/sem23/ratslam.git (branch: ratslam_ros) | ||
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| ## 1. External Documentation | ||
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| [David Ball, Scott Heath, Janet Wiles, Gordon Wyeth, Peter Corke, Michael Milford: OpenRatSLAM: an open source brain-based SLAM system, Autonomous Robots, 2013](https://link.springer.com/article/10.1007%2Fs10514-012-9317-9). | ||
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| ## 2. Hardware Requirements | ||
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| To get RatSLAM working you need a properly setup monocular camera and an odometry source. The odometry can be generated | ||
| using the visual odometry node, which is provided by the package. But note, that a wheel based odometry is much more | ||
| accurate in most cases. | ||
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| ## 3. Example | ||
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| Several examples are provided [here](https://github.com/davidmball/ratslam/blob/wiki/RatSLAMROS.md#running-ratslam). | ||
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| ## 4. Nodes | ||
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| ### 4.1 ratslam_em | ||
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| The experience map is used to store the experiences made by the robot. This node provides a topological map, loop closing capabilites | ||
| and a dijkstra pathplanning algorithm. | ||
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| #### 4.1.1 Subscribed Topics | ||
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| "odom" ([nav_msgs/Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)) | ||
| > The current odometry. | ||
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| topic_root + "/PoseCell/TopologicalAction" (ratslam_ros/TopologicalAction) | ||
| > The topological action. | ||
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| topic_root + "/ExperienceMap/SetGoalPose" ([geometry_msgs/PoseStamped](http://docs.ros.org/api/geometry_msgs/html/msg/PoseStamped.html)) | ||
| > The goal pose to where path will be planned. | ||
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| #### 4.1.2 Published Topics | ||
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| topic_root + "/ExperienceMap/Map" (ratslam_ros/TopologicalMap) | ||
| > The experience map in RatSLAM format. | ||
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| topic_root + "/ExperienceMap/MapMarker" ([visualization_msgs/Marker](http://docs.ros.org/api/visualization_msgs/html/msg/Marker.html)) | ||
| > The experience map as ROS visualization markers for displaying puposes. | ||
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| topic_root + "/ExperienceMap/RobotPose" ([geometry_msgs/PoseStamped](http://docs.ros.org/api/geometry_msgs/html/msg/PoseStamped.html)) | ||
| > The current pose of the robot in map. | ||
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| topic_root + "/ExperienceMap/PathToGoal" ([nav_msgs/Path](http://docs.ros.org/api/nav_msgs/html/msg/Path.html)) | ||
| > The current planned path (published if triggered to plan). | ||
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| #### 4.1.3 Parameters | ||
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| **Note:** Only ROS parameters are mentioned. All others are explained in external documentation. The parameter "topic_root" can be found there! | ||
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| "map_frame" (Default: "map") | ||
| > The name of the map frame. | ||
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| "odom_frame" (Default: "odom") | ||
| > The name of the odometry frame. | ||
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| "base_frame" (Default: "base_link") | ||
| > The name of the base frame. | ||
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| "tf_update_rate" (Default: 20.0) | ||
| > The update rate [hz] of the map_frame -> odom_frame transformation broadcaster. | ||
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| "map_save_period" (Default: 10.0) | ||
| > The period [seconds] after which a map is saved. | ||
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| "map_file_path" (Default: "ratslam-latest.bmap") | ||
| > The file path where map is saved. | ||
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| #### 4.1.4 Required tf Transforms | ||
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| odom_frame -> base_frame | ||
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Collaborator
Author
There was a problem hiding this comment. The transform tree given by SLAM or localization should be <map_frame> --> <odom_frame> --> <base_frame>, e.g. "map" -> "odom" -> "base_footprint" / "base_link". The explanation is for the parameters the node takes. |
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| > Usually provided by the odometry system (e.g., the driver for the mobile base). | ||
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| #### 4.1.5 Provided tf Transforms | ||
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| map_frame -> odom_frame | ||
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| > The current estimate of the robot's pose within the map frame. | ||
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| ### 4.2 ratslam_pc | ||
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| The pose cell network is used to track odometry information based on movement, vision and recognition. | ||
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| #### 4.2.1 Subscribed Topics | ||
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| "odom" ([nav_msgs/Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)) | ||
| > The current odometry. | ||
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| topic_root + "/LocalView/Template" (ratslam_ros/ViewTemplate) | ||
| > The current matched template. | ||
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| #### 4.2.2 Published Topics | ||
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| topic_root + "/PoseCell/TopologicalAction" (ratslam_ros/TopologicalMap) | ||
| > The topological action performed by network. | ||
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| #### 4.2.3 Parameters | ||
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| **Note:** Only ROS parameters are mentioned. All others are explained in external documentation. | ||
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| "pcn_save_period" (Default: 10.0) | ||
| > The period [seconds] after which a pose cell network state is saved. | ||
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| "pcn_file_path" (Default: "ratslam-latest.bpcn") | ||
| > The file path where pose cell network state is saved. | ||
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| ### 4.3 ratslam_lv | ||
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| The local view matcher is used to match the camera templates against previous experienced ones. This node provides the matching of images. | ||
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| #### 4.3.1 Subscribed Topics | ||
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| "image" ([sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html)) | ||
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Owner
There was a problem hiding this comment. To make this work with the bag files it needs a topic root name_space. Maybe this should be an additional issue.
Collaborator
Author
There was a problem hiding this comment. The topic_root parameter can be replaced by correct usage of the namespace of the node I think. I will try to setup some example launch file, so that you can get what I mean. 😃 |
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| > ImageTransport image subscriber. | ||
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| "camera_info" ([sensor_msgs/CameraInfo](http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html)) | ||
| > ImageTransport camera info subscriber. | ||
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| #### 4.3.2 Published Topics | ||
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| topic_root + "/LocalView/Template" (ratslam_ros/ViewTemplate) | ||
| > The current matched template. | ||
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| #### 4.3.3 Parameters | ||
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| **Note:** Only ROS parameters are mentioned. All others are explained in external documentation. The parameter "topic_root" can be found there! | ||
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| "lvm_save_period" (Default: 10.0) | ||
| > The period [seconds] after which a local view matcher state is saved. | ||
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| "lvm_file_path" (Default: "ratslam-latest.blvm") | ||
| > The file path where local view matcher state is saved. | ||
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| ### 4.4 ratslam_vo | ||
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| The visual odometry node. This node can be used to generate an odometry source from monocular camera input. | ||
| **Note:** Using wheel based odometry is more accurate in most cases. | ||
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| #### 4.4.1 Subscribed Topics | ||
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| "image" ([sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html)) | ||
| > ImageTransport image subscriber. | ||
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| "camera_info" ([sensor_msgs/CameraInfo](http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html)) | ||
| > ImageTransport camera info subscriber. | ||
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| #### 4.4.2 Published Topics | ||
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| "odom" ([nav_msgs/Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)) | ||
| > The current odometry generated from vision source. | ||
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| [general] | ||
| topic_root=irat_red | ||
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| [ratslam] | ||
| image_crop_y_max=150 | ||
| template_x_size=60 | ||
| template_y_size=20 | ||
| vt_shift_match = 4 | ||
| vt_step_match = 1 | ||
| vt_match_threshold = 0.03 | ||
| vt_active_decay = 1.0 | ||
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| pc_dim_xy = 11 | ||
| pc_vt_inject_energy = 0.1 | ||
| pc_cell_x_size = 0.015 | ||
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| exp_delta_pc_threshold = 2 | ||
| exp_loops=20 | ||
| exp_initial_em_deg=140 | ||
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| [draw] | ||
| enable=0 | ||
| vt_window_width=416 | ||
| vt_window_height=480 | ||
| exp_map_size=500 | ||
| posecells_size=250 | ||
| media_path=@MEDIA_PATH@ | ||
| image_file=irat_sm.tga |
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Note I don't know travis syntax so you'll have to check this.
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Have you had a look at the travis page which shows the running builds and its status? You'll see it is working 😉 . I took this script from the official ROS industrial repository. On the ROS wiki it is said that this is a very good entry point for prerelease testing. So it is tested quite well. Also you get a "build status" badge/banner which can be shown (I think I display this in the README.md).
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ok