From 1c86e7935d298285fb4417f05c093d057e7ec433 Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Sat, 8 Feb 2025 21:37:27 +0800 Subject: [PATCH 01/21] feat: migrate rviz to rviz2 --- rviz_cfg/fast_livo2.rviz | 84 ++++++++++++++++++++-------------------- 1 file changed, 42 insertions(+), 42 deletions(-) diff --git a/rviz_cfg/fast_livo2.rviz b/rviz_cfg/fast_livo2.rviz index da2892e3..9b69e325 100755 --- a/rviz_cfg/fast_livo2.rviz +++ b/rviz_cfg/fast_livo2.rviz @@ -1,5 +1,5 @@ Panels: - - Class: rviz/Displays + - Class: rviz_common/Displays Help Height: 0 Name: Displays Property Tree Widget: @@ -25,21 +25,21 @@ Panels: - /Image1 Splitter Ratio: 0.34272301197052 Tree Height: 538 - - Class: rviz/Selection + - Class: rviz_common/Selection Name: Selection - - Class: rviz/Tool Properties + - Class: rviz_common/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views + - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time + - Class: rviz_common/Time Name: Time SyncMode: 0 SyncSource: surround @@ -52,7 +52,7 @@ Visualization Manager: Displays: - Alpha: 1 Cell Size: 1 - Class: rviz/Grid + Class: rviz_default_plugins/Grid Color: 160; 160; 164 Enabled: false Line Style: @@ -69,7 +69,7 @@ Visualization Manager: Reference Frame: Value: false - Alpha: 1 - Class: rviz/Axes + Class: rviz_default_plugins/Axes Enabled: true Length: 0.699999988079071 Name: Axes @@ -77,7 +77,7 @@ Visualization Manager: Reference Frame: Show Trail: false Value: true - - Class: rviz/Group + - Class: rviz_common/Group Displays: - Alpha: 1 Autocompute Intensity Bounds: true @@ -87,7 +87,7 @@ Visualization Manager: Value: false Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 239; 41; 41 Color Transformer: FlatColor Decay Time: 0 @@ -115,7 +115,7 @@ Visualization Manager: Value: false Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 238; 238; 236 Color Transformer: RGB8 Decay Time: 10000 @@ -145,7 +145,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 239; 41; 41 Color Transformer: "" Decay Time: 0 @@ -167,10 +167,10 @@ Visualization Manager: Value: false Enabled: true Name: mapping - - Class: rviz/Group + - Class: rviz_common/Group Displays: - Angle Tolerance: 0.009999999776482582 - Class: rviz/Odometry + Class: rviz_default_plugins/Odometry Covariance: Orientation: Alpha: 0.5 @@ -208,7 +208,7 @@ Visualization Manager: Name: Odometry - Alpha: 0 Buffer Length: 2 - Class: rviz/Path + Class: rviz_default_plugins/Path Color: 25; 255; 255 Enabled: true Head Diameter: 0 @@ -238,7 +238,7 @@ Visualization Manager: Value: false Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 239; 41; 41 Color Transformer: Intensity Decay Time: 1000 @@ -258,7 +258,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: false - - Class: rviz/Marker + - Class: rviz_default_plugins/Marker Enabled: true Marker Topic: /planner_normal Name: Marker @@ -266,7 +266,7 @@ Visualization Manager: {} Queue Size: 100 Value: true - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: false Marker Topic: /voxels Name: MarkerArray @@ -282,7 +282,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 245; 121; 0 Color Transformer: FlatColor Decay Time: 0 @@ -302,7 +302,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: false - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: false Marker Topic: /visualization_marker Name: MarkerArray @@ -318,7 +318,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 92; 53; 102 Color Transformer: FlatColor Decay Time: 99999 @@ -346,7 +346,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 115; 210; 22 Color Transformer: FlatColor Decay Time: 0 @@ -374,7 +374,7 @@ Visualization Manager: Value: false Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 237; 212; 0 Color Transformer: FlatColor Decay Time: 0 @@ -402,7 +402,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 239; 41; 41 Color Transformer: FlatColor Decay Time: 99999 @@ -430,7 +430,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 92; 53; 102 Color Transformer: FlatColor Decay Time: 0 @@ -451,7 +451,7 @@ Visualization Manager: Use rainbow: true Value: false - Angle Tolerance: 0 - Class: rviz/Odometry + Class: rviz_default_plugins/Odometry Covariance: Orientation: Alpha: 0.5 @@ -485,7 +485,7 @@ Visualization Manager: Topic: /aft_mapped_to_init Unreliable: false Value: false - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: false Marker Topic: /waypoint_planner/visualize Name: MarkerArray @@ -493,7 +493,7 @@ Visualization Manager: {} Queue Size: 100 Value: false - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: true Marker Topic: /fsm_node/visualization/exp_traj Name: MarkerArray @@ -501,7 +501,7 @@ Visualization Manager: {} Queue Size: 100 Value: true - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: false Marker Topic: /fsm_node/visualization/exp_sfcs Name: MarkerArray @@ -509,7 +509,7 @@ Visualization Manager: {} Queue Size: 100 Value: false - - Class: rviz/Image + - Class: rviz_default_plugins/Image Enabled: true Image Topic: /rgb_img Max Value: 1 @@ -529,26 +529,26 @@ Visualization Manager: Frame Rate: 30 Name: root Tools: - - Class: rviz/Interact + - Class: rviz_default_plugins/Interact Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + - Class: rviz_default_plugins/SetInitialPose Theta std deviation: 0.2617993950843811 Topic: /initialpose X std deviation: 0.5 Y std deviation: 0.5 - - Class: rviz/SetGoal + - Class: rviz_default_plugins/SetGoal Topic: /move_base_simple/goal - - Class: rviz/PublishPoint + - Class: rviz_default_plugins/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: - Class: rviz/ThirdPersonFollower + Class: rviz_default_plugins/ThirdPersonFollower Distance: 25.669620513916016 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -569,7 +569,7 @@ Visualization Manager: Target Frame: drone Yaw: 3.161787748336792 Saved: - - Class: rviz/Orbit + - Class: rviz_default_plugins/Orbit Distance: 117.53474426269531 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -589,7 +589,7 @@ Visualization Manager: Pitch: 0.19539840519428253 Target Frame: Yaw: 0.17540442943572998 - - Class: rviz/Orbit + - Class: rviz_default_plugins/Orbit Distance: 109.3125 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -609,7 +609,7 @@ Visualization Manager: Pitch: 0.035398442298173904 Target Frame: Yaw: 5.793589115142822 - - Class: rviz/Orbit + - Class: rviz_default_plugins/Orbit Distance: 85.65605163574219 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -629,7 +629,7 @@ Visualization Manager: Pitch: 0.5653983950614929 Target Frame: Yaw: 0.9104044437408447 - - Class: rviz/Orbit + - Class: rviz_default_plugins/Orbit Distance: 60.1053581237793 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 From 374ab595483bd72a488c1fc1cf050505160a83c2 Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Mon, 10 Feb 2025 00:13:06 +0800 Subject: [PATCH 02/21] feat: migrate param loading from *.yaml --- config/avia.yaml | 150 +++++++++++++++++++------------------ config/camera_pinhole.yaml | 26 ++++--- 2 files changed, 90 insertions(+), 86 deletions(-) diff --git a/config/avia.yaml b/config/avia.yaml index 04c24bab..9eb6b085 100755 --- a/config/avia.yaml +++ b/config/avia.yaml @@ -1,85 +1,87 @@ -common: - img_topic: "/left_camera/image" - lid_topic: "/livox/lidar" - imu_topic: "/livox/imu" - img_en: 1 - lidar_en: 1 - ros_driver_bug_fix: false +/**: + ros__parameters: + common: + img_topic: "/left_camera/image" + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + img_en: 1 + lidar_en: 1 + ros_driver_bug_fix: false -extrin_calib: - extrinsic_T: [0.04165, 0.02326, -0.0284] - extrinsic_R: [1, 0, 0, 0, 1, 0, 0, 0, 1] - Rcl: [0.00610193,-0.999863,-0.0154172, - -0.00615449,0.0153796,-0.999863, - 0.999962,0.00619598,-0.0060598] - Pcl: [0.0194384, 0.104689,-0.0251952] + extrin_calib: + extrinsic_T: [0.04165, 0.02326, -0.0284] + extrinsic_R: [1, 0, 0, 0, 1, 0, 0, 0, 1] + Rcl: [0.00610193,-0.999863,-0.0154172, + -0.00615449,0.0153796,-0.999863, + 0.999962,0.00619598,-0.0060598] + Pcl: [0.0194384, 0.104689,-0.0251952] -time_offset: - imu_time_offset: 0.0 - img_time_offset: 0.1 - exposure_time_init: 0.0 + time_offset: + imu_time_offset: 0.0 + img_time_offset: 0.1 + exposure_time_init: 0.0 -preprocess: - point_filter_num: 1 - filter_size_surf: 0.1 - lidar_type: 1 # Livox Avia LiDAR - scan_line: 6 - blind: 0.8 + preprocess: + point_filter_num: 1 + filter_size_surf: 0.1 + lidar_type: 1 # Livox Avia LiDAR + scan_line: 6 + blind: 0.8 -vio: - max_iterations: 5 - outlier_threshold: 1000 # 78 100 156 #100 200 500 700 infinite - img_point_cov: 100 # 100 1000 - patch_size: 8 - patch_pyrimid_level: 4 - normal_en: true - raycast_en: false - inverse_composition_en: false - exposure_estimate_en: true - inv_expo_cov: 0.1 + vio: + max_iterations: 5 + outlier_threshold: 1000 # 78 100 156 #100 200 500 700 infinite + img_point_cov: 100 # 100 1000 + patch_size: 8 + patch_pyrimid_level: 4 + normal_en: true + raycast_en: false + inverse_composition_en: false + exposure_estimate_en: true + inv_expo_cov: 0.1 -imu: - imu_en: true - imu_int_frame: 30 - acc_cov: 0.5 # 0.2 - gyr_cov: 0.3 # 0.5 - b_acc_cov: 0.0001 # 0.1 - b_gyr_cov: 0.0001 # 0.1 + imu: + imu_en: true + imu_int_frame: 30 + acc_cov: 0.5 # 0.2 + gyr_cov: 0.3 # 0.5 + b_acc_cov: 0.0001 # 0.1 + b_gyr_cov: 0.0001 # 0.1 -lio: - max_iterations: 5 - dept_err: 0.02 - beam_err: 0.05 - min_eigen_value: 0.0025 # 0.005 - voxel_size: 0.5 - max_layer: 2 - max_points_num: 50 - layer_init_num: [5, 5, 5, 5, 5] + lio: + max_iterations: 5 + dept_err: 0.02 + beam_err: 0.05 + min_eigen_value: 0.0025 # 0.005 + voxel_size: 0.5 + max_layer: 2 + max_points_num: 50 + layer_init_num: [5, 5, 5, 5, 5] -local_map: - map_sliding_en: false - half_map_size: 100 - sliding_thresh: 8 + local_map: + map_sliding_en: false + half_map_size: 100 + sliding_thresh: 8 -uav: - imu_rate_odom: false - gravity_align_en: false + uav: + imu_rate_odom: false + gravity_align_en: false -publish: - dense_map_en: true - pub_effect_point_en: false - pub_plane_en: false - pub_scan_num: 1 - blind_rgb_points: 0.0 + publish: + dense_map_en: true + pub_effect_point_en: false + pub_plane_en: false + pub_scan_num: 1 + blind_rgb_points: 0.0 -evo: - seq_name: "CBD_Building_01" - pose_output_en: false + evo: + seq_name: "CBD_Building_01" + pose_output_en: false -pcd_save: - pcd_save_en: false - colmap_output_en: false # need to set interval = -1 - filter_size_pcd: 0.15 - interval: -1 - # how many LiDAR frames saved in each pcd file; - # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. + pcd_save: + pcd_save_en: false + colmap_output_en: false # need to set interval = -1 + filter_size_pcd: 0.15 + interval: -1 + # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. diff --git a/config/camera_pinhole.yaml b/config/camera_pinhole.yaml index 83fd89e0..8c8da9a1 100644 --- a/config/camera_pinhole.yaml +++ b/config/camera_pinhole.yaml @@ -1,12 +1,14 @@ -cam_model: Pinhole -cam_width: 1280 -cam_height: 1024 -scale: 0.5 -cam_fx: 1293.56944 -cam_fy: 1293.3155 -cam_cx: 626.91359 -cam_cy: 522.799224 -cam_d0: -0.076160 -cam_d1: 0.123001 -cam_d2: -0.00113 -cam_d3: 0.000251 \ No newline at end of file +/**: + ros__parameters: + cam_model: Pinhole + cam_width: 1280 + cam_height: 1024 + scale: 0.5 + cam_fx: 1293.56944 + cam_fy: 1293.3155 + cam_cx: 626.91359 + cam_cy: 522.799224 + cam_d0: -0.076160 + cam_d1: 0.123001 + cam_d2: -0.00113 + cam_d3: 0.000251 \ No newline at end of file From 14cb3bc8f4745d31e25b5855c048476d8f7ea53a Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Sun, 23 Feb 2025 21:52:04 +0800 Subject: [PATCH 03/21] feat: migrate code from ros1 to ros2 --- CMakeLists.txt | 123 +++++++--- include/IMU_Processing.h | 7 +- include/LIVMapper.h | 93 ++++---- include/common_lib.h | 13 +- include/feature.h | 4 +- include/frame.h | 4 +- include/preprocess.h | 26 ++- include/utils/utils.h | 76 +++++++ include/vio.h | 8 +- include/voxel_map.h | 18 +- launch/mapping_avia.launch | 20 -- package.xml | 51 +++-- src/IMU_Processing.cpp | 48 ++-- src/LIVMapper.cpp | 446 +++++++++++++++++++++---------------- src/frame.cpp | 2 +- src/main.cpp | 14 +- src/preprocess.cpp | 24 +- src/utils.cpp | 19 ++ src/vio.cpp | 25 ++- src/voxel_map.cpp | 76 ++++--- 20 files changed, 665 insertions(+), 432 deletions(-) create mode 100644 include/utils/utils.h delete mode 100755 launch/mapping_avia.launch create mode 100644 src/utils.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 7f51009e..baac76bf 100755 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.10) project(fast_livo) set(CMAKE_BUILD_TYPE "Release") @@ -75,57 +75,93 @@ else() message(STATUS "mimalloc not found, proceeding without it") endif() -# Find catkin and required dependencies -find_package(catkin REQUIRED COMPONENTS - geometry_msgs - nav_msgs - sensor_msgs - roscpp - rospy - std_msgs - pcl_ros - tf - livox_ros_driver - message_generation - eigen_conversions - vikit_common - vikit_ros - cv_bridge - image_transport -) - +# Find ament and required dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclpy REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(pcl_ros REQUIRED) +find_package(pcl_conversions REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(livox_ros_driver2 REQUIRED) +find_package(vikit_common REQUIRED) +find_package(vikit_ros REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(image_transport REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED) find_package(OpenCV REQUIRED) find_package(Sophus REQUIRED) find_package(Boost REQUIRED COMPONENTS thread) -# Define the catkin package -catkin_package( - CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime cv_bridge vikit_common vikit_ros image_transport - DEPENDS EIGEN3 PCL OpenCV Sophus -) - # Include directories for dependencies include_directories( - ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${PCL_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${Sophus_INCLUDE_DIRS} + ${vikit_common_INCLUDE_DIRS} + ${vikit_ros_INCLUDE_DIRS} include ) +set(dependencies + rclcpp + rclpy + geometry_msgs + nav_msgs + sensor_msgs + visualization_msgs + cv_bridge + vikit_common + vikit_ros + image_transport + pcl_ros + pcl_conversions + tf2_ros + livox_ros_driver2 +) + +set(COMMON_DEPENDENCIES OpenMP::OpenMP_CXX) + +# link_directories(${COMMON_DEPENDENCIES} +# ${vikit_common_LIBRARIES}/libvikit_common.so +# ${vikit_ros_LIBRARIES}/libvikit_ros.so +# ) + # Add libraries add_library(vio src/vio.cpp src/frame.cpp src/visual_point.cpp) add_library(lio src/voxel_map.cpp) add_library(pre src/preprocess.cpp) add_library(imu_proc src/IMU_Processing.cpp) add_library(laser_mapping src/LIVMapper.cpp) +add_library(utils src/utils.cpp) + +ament_target_dependencies(vio ${dependencies} ) +ament_target_dependencies(lio ${dependencies}) +ament_target_dependencies(pre ${dependencies}) +ament_target_dependencies(imu_proc ${dependencies}) +ament_target_dependencies(laser_mapping ${dependencies}) + +# 链接库或可执行文件到公共依赖项 +target_link_libraries(laser_mapping + ${CMAKE_SOURCE_DIR}/../../install/vikit_common/lib/libvikit_common.so + ${CMAKE_SOURCE_DIR}/../../install/vikit_ros/lib/libvikit_ros.so + ${COMMON_DEPENDENCIES} +) +target_link_libraries(vio ${COMMON_DEPENDENCIES}) +target_link_libraries(lio utils ${COMMON_DEPENDENCIES}) +target_link_libraries(pre ${COMMON_DEPENDENCIES}) +target_link_libraries(imu_proc ${COMMON_DEPENDENCIES}) # Add the main executable add_executable(fastlivo_mapping src/main.cpp) +ament_target_dependencies(fastlivo_mapping ${dependencies}) + # Link libraries to the executable target_link_libraries(fastlivo_mapping laser_mapping @@ -133,7 +169,6 @@ target_link_libraries(fastlivo_mapping lio pre imu_proc - ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${Sophus_LIBRARIES} @@ -143,4 +178,34 @@ target_link_libraries(fastlivo_mapping # Link mimalloc if found if(mimalloc_FOUND) target_link_libraries(fastlivo_mapping mimalloc) -endif() \ No newline at end of file +endif() + +# Install the executable +install(TARGETS + fastlivo_mapping + DESTINATION lib/${PROJECT_NAME} +) + +install( + DIRECTORY config launch rviz_cfg + DESTINATION share/${PROJECT_NAME} +) + +# Export dependencies +ament_export_dependencies( + rclcpp + rclpy + geometry_msgs + nav_msgs + sensor_msgs + pcl_ros + pcl_conversions + tf2_ros + livox_ros_driver2 + Eigen3 + PCL + OpenCV + Sophus +) + +ament_package() \ No newline at end of file diff --git a/include/IMU_Processing.h b/include/IMU_Processing.h index 6774142a..2a045fa6 100644 --- a/include/IMU_Processing.h +++ b/include/IMU_Processing.h @@ -14,9 +14,10 @@ which is included as part of this source code package. #define IMU_PROCESSING_H #include +#include #include "common_lib.h" #include -#include +#include #include const bool time_list(PointType &x, @@ -32,7 +33,7 @@ class ImuProcess ~ImuProcess(); void Reset(); - void Reset(double start_timestamp, const sensor_msgs::ImuConstPtr &lastimu); + void Reset(double start_timestamp, const sensor_msgs::msg::Imu::ConstSharedPtr &lastimu); void set_extrinsic(const V3D &transl, const M3D &rot); void set_extrinsic(const V3D &transl); void set_extrinsic(const MD(4, 4) & T); @@ -69,7 +70,7 @@ class ImuProcess void IMU_init(const MeasureGroup &meas, StatesGroup &state, int &N); void Forward_without_imu(LidarMeasureGroup &meas, StatesGroup &state_inout, PointCloudXYZI &pcl_out); PointCloudXYZI pcl_wait_proc; - sensor_msgs::ImuConstPtr last_imu; + sensor_msgs::msg::Imu::ConstSharedPtr last_imu; PointCloudXYZI::Ptr cur_pcl_un_; vector IMUpose; M3D Lid_rot_to_IMU; diff --git a/include/LIVMapper.h b/include/LIVMapper.h index 73a562d6..fc127bd4 100644 --- a/include/LIVMapper.h +++ b/include/LIVMapper.h @@ -17,19 +17,21 @@ which is included as part of this source code package. #include "vio.h" #include "preprocess.h" #include -#include -#include +#include +#include +#include +#include #include class LIVMapper { public: - LIVMapper(ros::NodeHandle &nh); + LIVMapper(rclcpp::Node::SharedPtr &node, std::string node_name); ~LIVMapper(); - void initializeSubscribersAndPublishers(ros::NodeHandle &nh, image_transport::ImageTransport &it); - void initializeComponents(); + void initializeSubscribersAndPublishers(rclcpp::Node::SharedPtr &nh, image_transport::ImageTransport &it_); + void initializeComponents(rclcpp::Node::SharedPtr &node); void initializeFiles(); - void run(); + void run(rclcpp::Node::SharedPtr &node); void gravityAlignment(); void handleFirstFrame(); void stateEstimationAndMapping(); @@ -40,27 +42,27 @@ class LIVMapper bool sync_packages(LidarMeasureGroup &meas); void prop_imu_once(StatesGroup &imu_prop_state, const double dt, V3D acc_avr, V3D angvel_avr); - void imu_prop_callback(const ros::TimerEvent &e); + void imu_prop_callback(); void transformLidar(const Eigen::Matrix3d rot, const Eigen::Vector3d t, const PointCloudXYZI::Ptr &input_cloud, PointCloudXYZI::Ptr &trans_cloud); void pointBodyToWorld(const PointType &pi, PointType &po); void RGBpointBodyToWorld(PointType const *const pi, PointType *const po); - void standard_pcl_cbk(const sensor_msgs::PointCloud2::ConstPtr &msg); - void livox_pcl_cbk(const livox_ros_driver::CustomMsg::ConstPtr &msg_in); - void imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in); - void img_cbk(const sensor_msgs::ImageConstPtr &msg_in); + void standard_pcl_cbk(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg); + void livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::ConstSharedPtr &msg_in); + void imu_cbk(const sensor_msgs::msg::Imu::ConstSharedPtr &msg_in); + void img_cbk(const sensor_msgs::msg::Image::ConstSharedPtr &msg_in); void publish_img_rgb(const image_transport::Publisher &pubImage, VIOManagerPtr vio_manager); - void publish_frame_world(const ros::Publisher &pubLaserCloudFullRes, VIOManagerPtr vio_manager); - void publish_visual_sub_map(const ros::Publisher &pubSubVisualMap); - void publish_effect_world(const ros::Publisher &pubLaserCloudEffect, const std::vector &ptpl_list); - void publish_odometry(const ros::Publisher &pubOdomAftMapped); - void publish_mavros(const ros::Publisher &mavros_pose_publisher); - void publish_path(const ros::Publisher pubPath); - void readParameters(ros::NodeHandle &nh); + void publish_frame_world(const rclcpp::Publisher::SharedPtr &pubLaserCloudFullRes, VIOManagerPtr vio_manager); + void publish_visual_sub_map(const rclcpp::Publisher::SharedPtr &pubSubVisualMap); + void publish_effect_world(const rclcpp::Publisher::SharedPtr &pubLaserCloudEffect, const std::vector &ptpl_list); + void publish_odometry(const rclcpp::Publisher::SharedPtr &pmavros_pose_publisherubOdomAftMapped); + void publish_mavros(const rclcpp::Publisher::SharedPtr &mavros_pose_publisher); + void publish_path(const rclcpp::Publisher::SharedPtr &pubPath); + void readParameters(rclcpp::Node::SharedPtr &node); template void set_posestamp(T &out); template void pointBodyToWorld(const Eigen::Matrix &pi, Eigen::Matrix &po); template Eigen::Matrix pointBodyToWorld(const Eigen::Matrix &pi); - cv::Mat getImageFromMsg(const sensor_msgs::ImageConstPtr &img_msg); + cv::Mat getImageFromMsg(const sensor_msgs::msg::Image::ConstSharedPtr &img_msg); std::mutex mtx_buffer, mtx_buffer_imu_prop; std::condition_variable sig_buffer; @@ -91,11 +93,11 @@ class LIVMapper StatesGroup imu_propagate, latest_ekf_state; bool new_imu = false, state_update_flg = false, imu_prop_enable = true, ekf_finish_once = false; - deque prop_imu_buffer; - sensor_msgs::Imu newest_imu; + deque prop_imu_buffer; + sensor_msgs::msg::Imu newest_imu; double latest_ekf_time; - nav_msgs::Odometry imu_prop_odom; - ros::Publisher pubImuPropOdom; + nav_msgs::msg::Odometry imu_prop_odom; + rclcpp::Publisher::SharedPtr pubImuPropOdom; double imu_time_offset = 0.0; bool gravity_align_en = false, gravity_align_finished = false; @@ -119,7 +121,7 @@ class LIVMapper double img_time_offset = 0.0; deque lid_raw_data_buffer; deque lid_header_time_buffer; - deque imu_buffer; + deque imu_buffer; deque img_buffer; deque img_time_buffer; vector _pv_list; @@ -148,34 +150,35 @@ class LIVMapper StatesGroup _state; StatesGroup state_propagat; - nav_msgs::Path path; - nav_msgs::Odometry odomAftMapped; - geometry_msgs::Quaternion geoQuat; - geometry_msgs::PoseStamped msg_body_pose; + nav_msgs::msg::Path path; + nav_msgs::msg::Odometry odomAftMapped; + geometry_msgs::msg::Quaternion geoQuat; + geometry_msgs::msg::PoseStamped msg_body_pose; PreprocessPtr p_pre; ImuProcessPtr p_imu; VoxelMapManagerPtr voxelmap_manager; VIOManagerPtr vio_manager; - ros::Publisher plane_pub; - ros::Publisher voxel_pub; - ros::Subscriber sub_pcl; - ros::Subscriber sub_imu; - ros::Subscriber sub_img; - ros::Publisher pubLaserCloudFullRes; - ros::Publisher pubNormal; - ros::Publisher pubSubVisualMap; - ros::Publisher pubLaserCloudEffect; - ros::Publisher pubLaserCloudMap; - ros::Publisher pubOdomAftMapped; - ros::Publisher pubPath; - ros::Publisher pubLaserCloudDyn; - ros::Publisher pubLaserCloudDynRmed; - ros::Publisher pubLaserCloudDynDbg; + rclcpp::Publisher::SharedPtr plane_pub; + rclcpp::Publisher::SharedPtr voxel_pub; + std::shared_ptr sub_pcl; + rclcpp::Subscription::SharedPtr sub_imu; + rclcpp::Subscription::SharedPtr sub_img; + rclcpp::Publisher::SharedPtr pubLaserCloudFullRes; + rclcpp::Publisher::SharedPtr pubNormal; + rclcpp::Publisher::SharedPtr pubSubVisualMap; + rclcpp::Publisher::SharedPtr pubLaserCloudEffect; + rclcpp::Publisher::SharedPtr pubLaserCloudMap; + rclcpp::Publisher::SharedPtr pubOdomAftMapped; + rclcpp::Publisher::SharedPtr pubPath; + rclcpp::Publisher::SharedPtr pubLaserCloudDyn; + rclcpp::Publisher::SharedPtr pubLaserCloudDynRmed; + rclcpp::Publisher::SharedPtr pubLaserCloudDynDbg; image_transport::Publisher pubImage; - ros::Publisher mavros_pose_publisher; - ros::Timer imu_prop_timer; + rclcpp::Publisher::SharedPtr mavros_pose_publisher; + rclcpp::TimerBase::SharedPtr imu_prop_timer; + rclcpp::Node::SharedPtr node; int frame_num = 0; double aver_time_consu = 0; diff --git a/include/common_lib.h b/include/common_lib.h index 7e72ea73..a3f951d5 100755 --- a/include/common_lib.h +++ b/include/common_lib.h @@ -16,13 +16,16 @@ which is included as part of this source code package. #include #include #include +#include #include -#include -#include -#include +#include +#include +#include +#include +#include using namespace std; -using namespace Eigen; +// using namespace Eigen; // avoid cmake error: reference to ‘Matrix’ is ambiguous using namespace Sophus; #define print_line std::cout << __FILE__ << ", " << __LINE__ << std::endl; @@ -62,7 +65,7 @@ struct MeasureGroup { double vio_time; double lio_time; - deque imu; + deque imu; cv::Mat img; MeasureGroup() { diff --git a/include/feature.h b/include/feature.h index 08a17f87..a94eea74 100644 --- a/include/feature.h +++ b/include/feature.h @@ -33,13 +33,13 @@ struct Feature int level_; //!< Image pyramid level where patch feature was extracted. VisualPoint *point_; //!< Pointer to 3D point which corresponds to the patch feature. Vector2d grad_; //!< Dominant gradient direction for edglets, normalized. - SE3 T_f_w_; //!< Pose of the frame where the patch feature was extracted. + SE3 T_f_w_; //!< Pose of the frame where the patch feature was extracted. float *patch_; //!< Pointer to the image patch data. float score_; //!< Score of the patch feature. float mean_; //!< Mean intensity of the image patch feature, used for normalization. double inv_expo_time_; //!< Inverse exposure time of the image where the patch feature was extracted. - Feature(VisualPoint *_point, float *_patch, const Vector2d &_px, const Vector3d &_f, const SE3 &_T_f_w, int _level) + Feature(VisualPoint *_point, float *_patch, const Vector2d &_px, const Vector3d &_f, const SE3 &_T_f_w, int _level) : type_(CORNER), px_(_px), f_(_f), T_f_w_(_T_f_w), mean_(0), score_(0), level_(_level), patch_(_patch), point_(_point) { } diff --git a/include/frame.h b/include/frame.h index 8172dcdc..ea8a534d 100644 --- a/include/frame.h +++ b/include/frame.h @@ -31,8 +31,8 @@ class Frame : boost::noncopyable static int frame_counter_; //!< Counts the number of created frames. Used to set the unique id. int id_; //!< Unique id of the frame. vk::AbstractCamera *cam_; //!< Camera model. - SE3 T_f_w_; //!< Transform (f)rame from (w)orld. - SE3 T_f_w_prior_; //!< Transform (f)rame from (w)orld provided by the IMU prior. + SE3 T_f_w_; //!< Transform (f)rame from (w)orld. + SE3 T_f_w_prior_; //!< Transform (f)rame from (w)orld provided by the IMU prior. cv::Mat img_; //!< Image of the frame. Features fts_; //!< List of features in the image. diff --git a/include/preprocess.h b/include/preprocess.h index 649ed838..8e99866e 100755 --- a/include/preprocess.h +++ b/include/preprocess.h @@ -14,7 +14,7 @@ which is included as part of this source code package. #define PREPROCESS_H_ #include "common_lib.h" -#include +#include #include using namespace std; @@ -138,11 +138,11 @@ class Preprocess Preprocess(); ~Preprocess(); - void process(const livox_ros_driver::CustomMsg::ConstPtr &msg, PointCloudXYZI::Ptr &pcl_out); - void process(const sensor_msgs::PointCloud2::ConstPtr &msg, PointCloudXYZI::Ptr &pcl_out); + void process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out); + void process(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg, PointCloudXYZI::Ptr &pcl_out); void set(bool feat_en, int lid_type, double bld, int pfilt_num); - // sensor_msgs::PointCloud2::ConstPtr pointcloud; + // sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud; PointCloudXYZI pl_full, pl_corn, pl_surf; PointCloudXYZI pl_buff[128]; // maximum 128 line lidar vector typess[128]; // maximum 128 line lidar @@ -150,17 +150,19 @@ class Preprocess double blind, blind_sqr; bool feature_enabled, given_offset_time; - ros::Publisher pub_full, pub_surf, pub_corn; + std::shared_ptr> pub_full; + std::shared_ptr> pub_surf; + std::shared_ptr> pub_corn; private: - void avia_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg); - void oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg); - void velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg); - void xt32_handler(const sensor_msgs::PointCloud2::ConstPtr &msg); - void Pandar128_handler(const sensor_msgs::PointCloud2::ConstPtr &msg); - void l515_handler(const sensor_msgs::PointCloud2::ConstPtr &msg); + void avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg); + void oust64_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg); + void velodyne_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg); + void xt32_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg); + void Pandar128_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg); + void l515_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg); void give_feature(PointCloudXYZI &pl, vector &types); - void pub_func(PointCloudXYZI &pl, const ros::Time &ct); + void pub_func(PointCloudXYZI &pl, const rclcpp::Time &ct); int plane_judge(const PointCloudXYZI &pl, vector &types, uint i, uint &i_nex, Eigen::Vector3d &curr_direct); bool small_plane(const PointCloudXYZI &pl, vector &types, uint i_cur, uint &i_nex, Eigen::Vector3d &curr_direct); bool edge_jump_judge(const PointCloudXYZI &pl, vector &types, uint i, Surround nor_dir); diff --git a/include/utils/utils.h b/include/utils/utils.h new file mode 100644 index 00000000..9555f705 --- /dev/null +++ b/include/utils/utils.h @@ -0,0 +1,76 @@ +#ifndef UTILS_H +#define UTILS_H + +#include +#include // for int64_t +#include // for std::numeric_limits +#include // for std::out_of_range +#include +#include +#include +#include +#include +#include + +std::vector convertToIntVectorSafe(const std::vector& int64_vector); + +inline double stamp2Sec(const builtin_interfaces::msg::Time& stamp) +{ + return rclcpp::Time(stamp).seconds(); +} + +inline rclcpp::Time sec2Stamp(double timestamp) +{ + int32_t sec = std::floor(timestamp); + auto nanosec_d = (timestamp - std::floor(timestamp)) * 1e9; + uint32_t nanosec = nanosec_d; + return rclcpp::Time(sec, nanosec); +} + +namespace tf +{ + +inline geometry_msgs::msg::Quaternion createQuaternionMsgFromYaw(double yaw) +{ + tf2::Quaternion q; + q.setRPY(0, 0, yaw); + return tf2::toMsg(q); +} + +inline geometry_msgs::msg::Quaternion createQuaternionMsgFromRollPitchYaw(double roll, double pitch, double yaw) +{ + tf2::Quaternion q; + q.setRPY(roll, pitch, yaw); + return tf2::toMsg(q); +} + +inline tf2::Quaternion createQuaternionFromYaw(double yaw) +{ + tf2::Quaternion q; + q.setRPY(0, 0, yaw); + return q; +} + +inline tf2::Quaternion createQuaternionFromRPY(double roll, double pitch, double yaw) +{ + tf2::Quaternion q; + q.setRPY(roll, pitch, yaw); + return q; +} +} + +inline geometry_msgs::msg::TransformStamped createTransformStamped( + const tf2::Transform &transform, + const builtin_interfaces::msg::Time &stamp, + const std::string &frame_id, + const std::string &child_frame_id) +{ + geometry_msgs::msg::TransformStamped transform_stamped; + transform_stamped.header.stamp = stamp; + transform_stamped.header.frame_id = frame_id; + transform_stamped.child_frame_id = child_frame_id; + transform_stamped.transform = tf2::toMsg(transform); + return transform_stamped; +} + +#endif // UTILS_H \ No newline at end of file diff --git a/include/vio.h b/include/vio.h index d5600b1d..21f2d9df 100755 --- a/include/vio.h +++ b/include/vio.h @@ -119,8 +119,8 @@ class VIOManager int frame_count = 0; bool plot_flag; - Matrix G, H_T_H; - MatrixXd K, H_sub_inv; + Eigen::Matrix G, H_T_H; + Eigen::MatrixXd K, H_sub_inv; ofstream fout_camera, fout_colmap; unordered_map feat_map; @@ -153,11 +153,11 @@ class VIOManager void computeJacobianAndUpdateEKF(cv::Mat img); void resetGrid(); void updateVisualMapPoints(cv::Mat img); - void getWarpMatrixAffine(const vk::AbstractCamera &cam, const Vector2d &px_ref, const Vector3d &f_ref, const double depth_ref, const SE3 &T_cur_ref, + void getWarpMatrixAffine(const vk::AbstractCamera &cam, const Vector2d &px_ref, const Vector3d &f_ref, const double depth_ref, const SE3 &T_cur_ref, const int level_ref, const int pyramid_level, const int halfpatch_size, Matrix2d &A_cur_ref); void getWarpMatrixAffineHomography(const vk::AbstractCamera &cam, const V2D &px_ref, - const V3D &xyz_ref, const V3D &normal_ref, const SE3 &T_cur_ref, const int level_ref, Matrix2d &A_cur_ref); + const V3D &xyz_ref, const V3D &normal_ref, const SE3 &T_cur_ref, const int level_ref, Matrix2d &A_cur_ref); void warpAffine(const Matrix2d &A_cur_ref, const cv::Mat &img_ref, const Vector2d &px_ref, const int level_ref, const int search_level, const int pyramid_level, const int halfpatch_size, float *patch); void insertPointIntoVoxelMap(VisualPoint *pt_new); diff --git a/include/voxel_map.h b/include/voxel_map.h index 21afaa34..2f28d80e 100644 --- a/include/voxel_map.h +++ b/include/voxel_map.h @@ -20,12 +20,12 @@ which is included as part of this source code package. #include #include #include -#include +#include #include #include #include -#include -#include +#include +#include #define VOXELMAP_HASH_P 116101 #define VOXELMAP_MAX_N 10000000000 @@ -37,7 +37,7 @@ typedef struct VoxelMapConfig double max_voxel_size_; int max_layer_; int max_iterations_; - std::vector layer_init_num_; + std::vector layer_init_num_; int max_points_num_; double planner_threshold_; double beam_err_; @@ -182,7 +182,7 @@ class VoxelOctoTree VoxelOctoTree *Insert(const pointWithVar &pv); }; -void loadVoxelConfig(ros::NodeHandle &nh, VoxelMapConfig &voxel_config); +void loadVoxelConfig(rclcpp::Node::SharedPtr &node, VoxelMapConfig &voxel_config); class VoxelMapManager { @@ -190,7 +190,7 @@ class VoxelMapManager VoxelMapManager() = default; VoxelMapConfig config_setting_; int current_frame_id_ = 0; - ros::Publisher voxel_map_pub_; + rclcpp::Publisher::SharedPtr voxel_map_pub_; std::unordered_map voxel_map_; PointCloudXYZI::Ptr feats_undistort_; @@ -208,7 +208,7 @@ class VoxelMapManager V3D last_slide_position = {0,0,0}; - geometry_msgs::Quaternion geoQuat_; + geometry_msgs::msg::Quaternion geoQuat_; int feats_down_size_; int effct_feat_num_; @@ -248,9 +248,9 @@ class VoxelMapManager private: void GetUpdatePlane(const VoxelOctoTree *current_octo, const int pub_max_voxel_layer, std::vector &plane_list); - void pubSinglePlane(visualization_msgs::MarkerArray &plane_pub, const std::string plane_ns, const VoxelPlane &single_plane, const float alpha, + void pubSinglePlane(visualization_msgs::msg::MarkerArray &plane_pub, const std::string plane_ns, const VoxelPlane &single_plane, const float alpha, const Eigen::Vector3d rgb); - void CalcVectQuation(const Eigen::Vector3d &x_vec, const Eigen::Vector3d &y_vec, const Eigen::Vector3d &z_vec, geometry_msgs::Quaternion &q); + void CalcVectQuation(const Eigen::Vector3d &x_vec, const Eigen::Vector3d &y_vec, const Eigen::Vector3d &z_vec, geometry_msgs::msg::Quaternion &q); void mapJet(double v, double vmin, double vmax, uint8_t &r, uint8_t &g, uint8_t &b); }; diff --git a/launch/mapping_avia.launch b/launch/mapping_avia.launch deleted file mode 100755 index 1e5c3602..00000000 --- a/launch/mapping_avia.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - -launch-prefix="gdb -ex run --args" -launch-prefix="valgrind --leak-check=full" - diff --git a/package.xml b/package.xml index af3a353c..84a4020e 100755 --- a/package.xml +++ b/package.xml @@ -1,5 +1,5 @@ - + fast_livo 0.0.0 @@ -16,40 +16,39 @@ Ji Zhang - catkin + ament_cmake + + rclcpp + rclpy + sensor_msgs geometry_msgs + visualization_msgs nav_msgs - roscpp - rospy std_msgs - sensor_msgs - tf + tf2_ros pcl_ros - livox_ros_driver - message_generation + pcl_conversions + livox_ros_driver2 vikit_common vikit_ros cv_bridge + image_transport + libopencv-dev + + cv_bridge + image_transport + libopencv-dev + sensor_msgs + std_msgs + + rosidl_interface_packages - geometry_msgs - nav_msgs - sensor_msgs - roscpp - rospy - std_msgs - tf - pcl_ros - livox_ros_driver - message_runtime - vikit_common - vikit_ros - cv_bridge - image_transport - image_transport - - rostest - rosbag + ament_lint_auto + ament_lint_common + ament_cmake + + diff --git a/src/IMU_Processing.cpp b/src/IMU_Processing.cpp index 217511e7..79855525 100755 --- a/src/IMU_Processing.cpp +++ b/src/IMU_Processing.cpp @@ -11,6 +11,7 @@ which is included as part of this source code package. */ #include "IMU_Processing.h" +#include const bool time_list(PointType &x, PointType &y) { return (x.curvature < y.curvature); } @@ -29,7 +30,7 @@ ImuProcess::ImuProcess() : Eye3d(M3D::Identity()), acc_s_last = Zero3d; Lid_offset_to_IMU = Zero3d; Lid_rot_to_IMU = Eye3d; - last_imu.reset(new sensor_msgs::Imu()); + last_imu.reset(new sensor_msgs::msg::Imu()); cur_pcl_un_.reset(new PointCloudXYZI()); } @@ -37,14 +38,14 @@ ImuProcess::~ImuProcess() {} void ImuProcess::Reset() { - ROS_WARN("Reset ImuProcess"); + RCLCPP_WARN(rclcpp::get_logger(""), "Reset ImuProcess"); mean_acc = V3D(0, 0, -1.0); mean_gyr = V3D(0, 0, 0); angvel_last = Zero3d; imu_need_init = true; init_iter_num = 1; IMUpose.clear(); - last_imu.reset(new sensor_msgs::Imu()); + last_imu.reset(new sensor_msgs::msg::Imu()); cur_pcl_un_.reset(new PointCloudXYZI()); } @@ -107,7 +108,7 @@ void ImuProcess::IMU_init(const MeasureGroup &meas, StatesGroup &state_inout, in { /** 1. initializing the gravity, gyro bias, acc and gyro covariance ** 2. normalize the acceleration measurenments to unit gravity **/ - ROS_INFO("IMU Initializing: %.1f %%", double(N) / MAX_INI_COUNT * 100); + RCLCPP_INFO(rclcpp::get_logger(""),"IMU Initializing: %.1f %%", double(N) / MAX_INI_COUNT * 100); V3D cur_acc, cur_gyr; if (b_first_frame) @@ -245,8 +246,8 @@ void ImuProcess::UndistortPcl(LidarMeasureGroup &lidar_meas, StatesGroup &state_ // cout<<"meas.imu.size: "<header.stamp.toSec(); - const double &imu_end_time = v_imu.back()->header.stamp.toSec(); + const double &imu_beg_time = stamp2Sec(v_imu.front()->header.stamp); + const double &imu_end_time = stamp2Sec(v_imu.back()->header.stamp); const double prop_beg_time = last_prop_end_time; // printf("[ IMU ] undistort input size: %zu \n", lidar_meas.pcl_proc_cur->points.size()); // printf("[ IMU ] IMU data sequence size: %zu \n", meas.imu.size()); @@ -307,7 +308,7 @@ void ImuProcess::UndistortPcl(LidarMeasureGroup &lidar_meas, StatesGroup &state_ double tau; if (!imu_time_init) { - // imu_time = v_imu.front()->header.stamp.toSec() - first_lidar_time; + // imu_time = stamp2Sec(v_imu.front()->header.stamp) - first_lidar_time; // tau = 1.0 / (0.25 * sin(2 * CV_PI * 0.5 * imu_time) + 0.75); tau = 1.0; imu_time_init = true; @@ -315,11 +316,10 @@ void ImuProcess::UndistortPcl(LidarMeasureGroup &lidar_meas, StatesGroup &state_ else { tau = state_inout.inv_expo_time; - // ROS_ERROR("tau: %.6f !!!!!!", tau); + // RCLCPP_ERROR_STREAM(rclcpp::get_logger(""),"tau: %.6f !!!!!!", tau); } // state_inout.cov(6, 6) = 0.01; - - // ROS_ERROR("lidar_meas.lio_vio_flg"); + // RCLCPP_ERROR_STREAM(rclcpp::get_logger(""),"lidar_meas.lio_vio_flg"); // cout<<"lidar_meas.lio_vio_flg: "<header.stamp.toSec() < prop_beg_time) continue; + if (stamp2Sec(tail->header.stamp) < prop_beg_time) continue; angvel_avr << 0.5 * (head->angular_velocity.x + tail->angular_velocity.x), 0.5 * (head->angular_velocity.y + tail->angular_velocity.y), 0.5 * (head->angular_velocity.z + tail->angular_velocity.z); @@ -346,30 +346,30 @@ void ImuProcess::UndistortPcl(LidarMeasureGroup &lidar_meas, StatesGroup &state_ // cout<<"acc_avr: "<header.stamp.toSec() - first_lidar_time << " " << angvel_avr.transpose() << " " << acc_avr.transpose() << endl; + fout_imu << setw(10) << stamp2Sec(head->header.stamp) - first_lidar_time << " " << angvel_avr.transpose() << " " << acc_avr.transpose() << endl; // #endif - // imu_time = head->header.stamp.toSec() - first_lidar_time; + // imu_time = stamp2Sec(head->header.stamp) - first_lidar_time; angvel_avr -= state_inout.bias_g; acc_avr = acc_avr * G_m_s2 / mean_acc.norm() - state_inout.bias_a; - if (head->header.stamp.toSec() < prop_beg_time) + if (stamp2Sec(head->header.stamp) < prop_beg_time) { // printf("00 \n"); - dt = tail->header.stamp.toSec() - last_prop_end_time; - offs_t = tail->header.stamp.toSec() - prop_beg_time; + dt = stamp2Sec(tail->header.stamp) - last_prop_end_time; + offs_t = stamp2Sec(tail->header.stamp) - prop_beg_time; } else if (i != v_imu.size() - 2) { // printf("11 \n"); - dt = tail->header.stamp.toSec() - head->header.stamp.toSec(); - offs_t = tail->header.stamp.toSec() - prop_beg_time; + dt = stamp2Sec(tail->header.stamp) - stamp2Sec(head->header.stamp); + offs_t = stamp2Sec(tail->header.stamp) - prop_beg_time; } else { // printf("22 \n"); - dt = prop_end_time - head->header.stamp.toSec(); + dt = prop_end_time - stamp2Sec(head->header.stamp); offs_t = prop_end_time - prop_beg_time; } @@ -426,8 +426,8 @@ void ImuProcess::UndistortPcl(LidarMeasureGroup &lidar_meas, StatesGroup &state_ angvel_last = angvel_avr; acc_s_last = acc_imu; - // cout<header.stamp.toSec(): - // "<header.stamp.toSec()<header.stamp): + // "<header.stamp)< -LIVMapper::LIVMapper(ros::NodeHandle &nh) - : extT(0, 0, 0), +using namespace Sophus; +LIVMapper::LIVMapper(rclcpp::Node::SharedPtr &node, std::string node_name) + : node(std::make_shared(node_name)), + extT(0, 0, 0), extR(M3D::Identity()) { extrinT.assign(3, 0.0); extrinR.assign(9, 0.0); cameraextrinT.assign(3, 0.0); cameraextrinR.assign(9, 0.0); - + p_pre.reset(new Preprocess()); p_imu.reset(new ImuProcess()); - readParameters(nh); + readParameters(this->node); VoxelMapConfig voxel_config; - loadVoxelConfig(nh, voxel_config); + loadVoxelConfig(this->node, voxel_config); visual_sub_map.reset(new PointCloudXYZI()); feats_undistort.reset(new PointCloudXYZI()); @@ -40,86 +43,146 @@ LIVMapper::LIVMapper(ros::NodeHandle &nh) vio_manager.reset(new VIOManager()); root_dir = ROOT_DIR; initializeFiles(); - initializeComponents(); - path.header.stamp = ros::Time::now(); + initializeComponents(this->node); // initialize components errors + path.header.stamp = this->node->now(); path.header.frame_id = "camera_init"; } LIVMapper::~LIVMapper() {} -void LIVMapper::readParameters(ros::NodeHandle &nh) +void LIVMapper::readParameters(rclcpp::Node::SharedPtr &node) { - nh.param("common/lid_topic", lid_topic, "/livox/lidar"); - nh.param("common/imu_topic", imu_topic, "/livox/imu"); - nh.param("common/ros_driver_bug_fix", ros_driver_fix_en, false); - nh.param("common/img_en", img_en, 1); - nh.param("common/lidar_en", lidar_en, 1); - nh.param("common/img_topic", img_topic, "/left_camera/image"); - - nh.param("vio/normal_en", normal_en, true); - nh.param("vio/inverse_composition_en", inverse_composition_en, false); - nh.param("vio/max_iterations", max_iterations, 5); - nh.param("vio/img_point_cov", IMG_POINT_COV, 100); - nh.param("vio/raycast_en", raycast_en, false); - nh.param("vio/exposure_estimate_en", exposure_estimate_en, true); - nh.param("vio/inv_expo_cov", inv_expo_cov, 0.2); - nh.param("vio/grid_size", grid_size, 5); - nh.param("vio/grid_n_height", grid_n_height, 17); - nh.param("vio/patch_pyrimid_level", patch_pyrimid_level, 3); - nh.param("vio/patch_size", patch_size, 8); - nh.param("vio/outlier_threshold", outlier_threshold, 1000); - - nh.param("time_offset/exposure_time_init", exposure_time_init, 0.0); - nh.param("time_offset/img_time_offset", img_time_offset, 0.0); - nh.param("time_offset/imu_time_offset", imu_time_offset, 0.0); - nh.param("uav/imu_rate_odom", imu_prop_enable, false); - nh.param("uav/gravity_align_en", gravity_align_en, false); - - nh.param("evo/seq_name", seq_name, "01"); - nh.param("evo/pose_output_en", pose_output_en, false); - nh.param("imu/gyr_cov", gyr_cov, 1.0); - nh.param("imu/acc_cov", acc_cov, 1.0); - nh.param("imu/imu_int_frame", imu_int_frame, 3); - nh.param("imu/imu_en", imu_en, false); - nh.param("imu/gravity_est_en", gravity_est_en, true); - nh.param("imu/ba_bg_est_en", ba_bg_est_en, true); - - nh.param("preprocess/blind", p_pre->blind, 0.01); - nh.param("preprocess/filter_size_surf", filter_size_surf_min, 0.5); - nh.param("preprocess/lidar_type", p_pre->lidar_type, AVIA); - nh.param("preprocess/scan_line", p_pre->N_SCANS, 6); - nh.param("preprocess/point_filter_num", p_pre->point_filter_num, 3); - nh.param("preprocess/feature_extract_enabled", p_pre->feature_enabled, false); - - nh.param("pcd_save/interval", pcd_save_interval, -1); - nh.param("pcd_save/pcd_save_en", pcd_save_en, false); - nh.param("pcd_save/colmap_output_en", colmap_output_en, false); - nh.param("pcd_save/filter_size_pcd", filter_size_pcd, 0.5); - nh.param>("extrin_calib/extrinsic_T", extrinT, vector()); - nh.param>("extrin_calib/extrinsic_R", extrinR, vector()); - nh.param>("extrin_calib/Pcl", cameraextrinT, vector()); - nh.param>("extrin_calib/Rcl", cameraextrinR, vector()); - nh.param("debug/plot_time", plot_time, -10); - nh.param("debug/frame_cnt", frame_cnt, 6); - - nh.param("publish/blind_rgb_points", blind_rgb_points, 0.01); - nh.param("publish/pub_scan_num", pub_scan_num, 1); - nh.param("publish/pub_effect_point_en", pub_effect_point_en, false); - nh.param("publish/dense_map_en", dense_map_en, false); - - p_pre->blind_sqr = p_pre->blind * p_pre->blind; + // declare parameters + this->node->declare_parameter("common/lid_topic", "/livox/lidar"); + this->node->declare_parameter("common/imu_topic", "/livox/imu"); + this->node->declare_parameter("common/ros_driver_bug_fix", false); + this->node->declare_parameter("common/img_en", 1); + this->node->declare_parameter("common/lidar_en", 1); + this->node->declare_parameter("common/img_topic", "/left_camera/image"); + + this->node->declare_parameter("vio/normal_en", true); + this->node->declare_parameter("vio/inverse_composition_en", false); + this->node->declare_parameter("vio/max_iterations", 5); + this->node->declare_parameter("vio/img_point_cov", 100); + this->node->declare_parameter("vio/raycast_en", false); + this->node->declare_parameter("vio/exposure_estimate_en", true); + this->node->declare_parameter("vio/inv_expo_cov", 0.1); + this->node->declare_parameter("vio/grid_size", 5); + this->node->declare_parameter("vio/grid_n_height", 17); + this->node->declare_parameter("vio/patch_pyrimid_level", 4); + this->node->declare_parameter("vio/patch_size", 8); + this->node->declare_parameter("vio/outlier_threshold", 100); + this->node->declare_parameter("time_offset/exposure_time_init", 0.0); + this->node->declare_parameter("time_offset/img_time_offset", 0.0); + this->node->declare_parameter("uav/imu_rate_odom", false); + this->node->declare_parameter("uav/gravity_align_en", false); + + this->node->declare_parameter("evo/seq_name", "01"); + this->node->declare_parameter("evo/pose_output_en", false); + this->node->declare_parameter("imu/gyr_cov", 1.0); + this->node->declare_parameter("imu/acc_cov", 1.0); + this->node->declare_parameter("imu/imu_int_frame", 30); + this->node->declare_parameter("imu/imu_en", true); + this->node->declare_parameter("imu/gravity_est_en", true); + this->node->declare_parameter("imu/ba_bg_est_en", true); + + this->node->declare_parameter("preprocess/blind", 0.01); + this->node->declare_parameter("preprocess/filter_size_surf", 0.5); + this->node->declare_parameter("preprocess/lidar_type", AVIA); + this->node->declare_parameter("preprocess/scan_line",6); + this->node->declare_parameter("preprocess/point_filter_num", 3); + this->node->declare_parameter("preprocess/feature_extract_enabled", false); + + this->node->declare_parameter("pcd_save/interval", -1); + this->node->declare_parameter("pcd_save/pcd_save_en", false); + this->node->declare_parameter("pcd_save/colmap_output_en", false); + this->node->declare_parameter("pcd_save/filter_size_pcd", 0.5); + this->node->declare_parameter>("extrin_calib/extrinsic_T", vector()); + this->node->declare_parameter>("extrin_calib/extrinsic_R", vector()); + this->node->declare_parameter>("extrin_calib/Pcl", vector()); + this->node->declare_parameter>("extrin_calib/Rcl", vector()); + this->node->declare_parameter("debug/plot_time", -10); + this->node->declare_parameter("debug/frame_cnt", 6); + + this->node->declare_parameter("publish/blind_rgb_points", 0.01); + this->node->declare_parameter("publish/pub_scan_num", 1); + this->node->declare_parameter("publish/pub_effect_point_en", false); + this->node->declare_parameter("publish/dense_map_en", false); + + // get parameter + this->node->get_parameter("common/lid_topic", lid_topic); + this->node->get_parameter("common/imu_topic", imu_topic); + this->node->get_parameter("common/ros_driver_bug_fix", ros_driver_fix_en); + this->node->get_parameter("common/img_en", img_en); + this->node->get_parameter("common/lidar_en", lidar_en); + this->node->get_parameter("common/img_topic", img_topic); + + this->node->get_parameter("vio/normal_en", normal_en); + this->node->get_parameter("vio/inverse_composition_en", inverse_composition_en); + this->node->get_parameter("vio/max_iterations", max_iterations); + this->node->get_parameter("vio/img_point_cov", IMG_POINT_COV); + this->node->get_parameter("vio/raycast_en", raycast_en); + this->node->get_parameter("vio/exposure_estimate_en", exposure_estimate_en); + this->node->get_parameter("vio/inv_expo_cov", inv_expo_cov); + this->node->get_parameter("vio/grid_size", grid_size); + this->node->get_parameter("vio/grid_n_height", grid_n_height); + this->node->get_parameter("vio/patch_pyrimid_level", patch_pyrimid_level); + this->node->get_parameter("vio/patch_size", patch_size); + this->node->get_parameter("vio/outlier_threshold", outlier_threshold); + this->node->get_parameter("time_offset/exposure_time_init", exposure_time_init); + this->node->get_parameter("time_offset/img_time_offset", img_time_offset); + this->node->get_parameter("uav/imu_rate_odom", imu_prop_enable); + this->node->get_parameter("uav/gravity_align_en", gravity_align_en); + + this->node->get_parameter("evo/seq_name", seq_name); + this->node->get_parameter("evo/pose_output_en", pose_output_en); + this->node->get_parameter("imu/gyr_cov", gyr_cov); + this->node->get_parameter("imu/acc_cov", acc_cov); + this->node->get_parameter("imu/imu_int_frame", imu_int_frame); + this->node->get_parameter("imu/imu_en", imu_en); + this->node->get_parameter("imu/gravity_est_en", gravity_est_en); + this->node->get_parameter("imu/ba_bg_est_en", ba_bg_est_en); + + this->node->get_parameter("preprocess/blind", p_pre->blind); + this->node->get_parameter("preprocess/filter_size_surf", filter_size_surf_min); + this->node->get_parameter("preprocess/lidar_type", p_pre->lidar_type); + this->node->get_parameter("preprocess/scan_line", p_pre->N_SCANS); + this->node->get_parameter("preprocess/point_filter_num", p_pre->point_filter_num); + this->node->get_parameter("preprocess/feature_extract_enabled", p_pre->feature_enabled); + + this->node->get_parameter("pcd_save/interval", pcd_save_interval); + this->node->get_parameter("pcd_save/pcd_save_en", pcd_save_en); + this->node->get_parameter("pcd_save/colmap_output_en", colmap_output_en); + this->node->get_parameter("pcd_save/filter_size_pcd", filter_size_pcd); + this->node->get_parameter("extrin_calib/extrinsic_T", extrinT); + this->node->get_parameter("extrin_calib/extrinsic_R", extrinR); + this->node->get_parameter("extrin_calib/Pcl", cameraextrinT); + this->node->get_parameter("extrin_calib/Rcl", cameraextrinR); + this->node->get_parameter("debug/plot_time", plot_time); + this->node->get_parameter("debug/frame_cnt", frame_cnt); + + this->node->get_parameter("publish/blind_rgb_points", blind_rgb_points); + this->node->get_parameter("publish/pub_scan_num", pub_scan_num); + this->node->get_parameter("publish/pub_effect_point_en", pub_effect_point_en); + this->node->get_parameter("publish/dense_map_en", dense_map_en); } -void LIVMapper::initializeComponents() +void LIVMapper::initializeComponents(rclcpp::Node::SharedPtr &node) { downSizeFilterSurf.setLeafSize(filter_size_surf_min, filter_size_surf_min, filter_size_surf_min); + + extrinT.assign({0.04165, 0.02326, -0.0284}); + extrinR.assign({1, 0, 0, 0, 1, 0, 0, 0, 1}); + cameraextrinT.assign({0.0194384, 0.104689,-0.0251952}); + cameraextrinR.assign({0.00610193,-0.999863,-0.0154172,-0.00615449,0.0153796,-0.999863,0.999962,0.00619598,-0.0060598}); + extT << VEC_FROM_ARRAY(extrinT); extR << MAT_FROM_ARRAY(extrinR); voxelmap_manager->extT_ << VEC_FROM_ARRAY(extrinT); voxelmap_manager->extR_ << MAT_FROM_ARRAY(extrinR); - if (!vk::camera_loader::loadFromRosNs("laserMapping", vio_manager->cam)) throw std::runtime_error("Camera model not correctly specified."); + if (!vk::camera_loader::loadFromRosNs(this->node, "laserMapping", vio_manager->cam)) throw std::runtime_error("Camera model not correctly specified."); vio_manager->grid_size = grid_size; vio_manager->patch_size = patch_size; @@ -182,31 +245,34 @@ void LIVMapper::initializeFiles() fout_out.open(DEBUG_FILE_DIR("mat_out.txt"), std::ios::out); } -void LIVMapper::initializeSubscribersAndPublishers(ros::NodeHandle &nh, image_transport::ImageTransport &it) +void LIVMapper::initializeSubscribersAndPublishers(rclcpp::Node::SharedPtr &node, image_transport::ImageTransport &it_) { - sub_pcl = p_pre->lidar_type == AVIA ? - nh.subscribe(lid_topic, 200000, &LIVMapper::livox_pcl_cbk, this): - nh.subscribe(lid_topic, 200000, &LIVMapper::standard_pcl_cbk, this); - sub_imu = nh.subscribe(imu_topic, 200000, &LIVMapper::imu_cbk, this); - sub_img = nh.subscribe(img_topic, 200000, &LIVMapper::img_cbk, this); + image_transport::ImageTransport it(this->node); + if (p_pre->lidar_type == AVIA) { + sub_pcl = this->node->create_subscription(lid_topic, 200000, std::bind(&LIVMapper::livox_pcl_cbk, this, std::placeholders::_1)); + } else { + sub_pcl = this->node->create_subscription(lid_topic, 200000, std::bind(&LIVMapper::standard_pcl_cbk, this, std::placeholders::_1)); + } + sub_imu = this->node->create_subscription(imu_topic, 200000, std::bind(&LIVMapper::imu_cbk, this, std::placeholders::_1)); + sub_img = this->node->create_subscription(img_topic, 200000, std::bind(&LIVMapper::img_cbk, this, std::placeholders::_1)); - pubLaserCloudFullRes = nh.advertise("/cloud_registered", 100); - pubNormal = nh.advertise("visualization_marker", 100); - pubSubVisualMap = nh.advertise("/cloud_visual_sub_map_before", 100); - pubLaserCloudEffect = nh.advertise("/cloud_effected", 100); - pubLaserCloudMap = nh.advertise("/Laser_map", 100); - pubOdomAftMapped = nh.advertise("/aft_mapped_to_init", 10); - pubPath = nh.advertise("/path", 10); - plane_pub = nh.advertise("/planner_normal", 1); - voxel_pub = nh.advertise("/voxels", 1); - pubLaserCloudDyn = nh.advertise("/dyn_obj", 100); - pubLaserCloudDynRmed = nh.advertise("/dyn_obj_removed", 100); - pubLaserCloudDynDbg = nh.advertise("/dyn_obj_dbg_hist", 100); - mavros_pose_publisher = nh.advertise("/mavros/vision_pose/pose", 10); + pubLaserCloudFullRes = this->node->create_publisher("/cloud_registered", 100); + pubNormal = this->node->create_publisher("/visualization_marker", 100); + pubSubVisualMap = this->node->create_publisher("/cloud_visual_sub_map_before", 100); + pubLaserCloudEffect = this->node->create_publisher("/cloud_effected", 100); + pubLaserCloudMap = this->node->create_publisher("/Laser_map", 100); + pubOdomAftMapped = this->node->create_publisher("/aft_mapped_to_init", 10); + pubPath = this->node->create_publisher("/path", 10); + plane_pub = this->node->create_publisher("/planner_normal", 1); + voxel_pub = this->node->create_publisher("/voxels", 1); + pubLaserCloudDyn = this->node->create_publisher("/dyn_obj", 100); + pubLaserCloudDynRmed = this->node->create_publisher("/dyn_obj_removed", 100); + pubLaserCloudDynDbg = this->node->create_publisher("/dyn_obj_dbg_hist", 100); + mavros_pose_publisher = this->node->create_publisher("/mavros/vision_pose/pose", 10); pubImage = it.advertise("/rgb_img", 1); - pubImuPropOdom = nh.advertise("/LIVO2/imu_propagate", 10000); - imu_prop_timer = nh.createTimer(ros::Duration(0.004), &LIVMapper::imu_prop_callback, this); - voxelmap_manager->voxel_map_pub_= nh.advertise("/planes", 10000); + pubImuPropOdom = this->node->create_publisher("/LIVO2/imu_propagate", 10000); + imu_prop_timer = this->node->create_wall_timer(0.004s, std::bind(&LIVMapper::imu_prop_callback, this)); + voxelmap_manager->voxel_map_pub_= this->node->create_publisher("/planes", 10000); } void LIVMapper::handleFirstFrame() @@ -226,7 +292,7 @@ void LIVMapper::gravityAlignment() { std::cout << "Gravity Alignment Starts" << std::endl; V3D ez(0, 0, -1), gz(_state.gravity); - Quaterniond G_q_I0 = Quaterniond::FromTwoVectors(gz, ez); + Eigen::Quaterniond G_q_I0 = Eigen::Quaterniond::FromTwoVectors(gz, ez); M3D G_R_I0 = G_q_I0.toRotationMatrix(); _state.pos_end = G_R_I0 * _state.pos_end; @@ -383,12 +449,12 @@ void LIVMapper::handleLIO() { evoFile.open(std::string(ROOT_DIR) + "Log/result/" + seq_name + ".txt", std::ios::out); pos_opend = true; - if (!evoFile.is_open()) ROS_ERROR("open fail\n"); + if (!evoFile.is_open()) RCLCPP_ERROR(this->node->get_logger(), "open fail\n"); } else { evoFile.open(std::string(ROOT_DIR) + "Log/result/" + seq_name + ".txt", std::ios::app); - if (!evoFile.is_open()) ROS_ERROR("open fail\n"); + if (!evoFile.is_open()) RCLCPP_ERROR(this->node->get_logger(), "open fail\n"); } Eigen::Matrix4d outT; Eigen::Quaterniond q(_state.rot_end); @@ -524,12 +590,12 @@ void LIVMapper::savePCD() } } -void LIVMapper::run() +void LIVMapper::run(rclcpp::Node::SharedPtr &node) { - ros::Rate rate(5000); - while (ros::ok()) + rclcpp::Rate rate(5000); + while (rclcpp::ok()) { - ros::spinOnce(); + rclcpp::spin_some(this->node); if (!sync_packages(LidarMeasures)) { rate.sleep(); @@ -566,11 +632,11 @@ void LIVMapper::prop_imu_once(StatesGroup &imu_prop_state, const double dt, V3D imu_prop_state.vel_end = imu_prop_state.vel_end + acc_imu * dt; } -void LIVMapper::imu_prop_callback(const ros::TimerEvent &e) +void LIVMapper::imu_prop_callback() { if (p_imu->imu_need_init || !new_imu || !ekf_finish_once) { return; } mtx_buffer_imu_prop.lock(); - new_imu = false; // 控制propagate频率和IMU频率一致 + new_imu = false; // 控制 propagate 频率和 IMU 频率一致 if (imu_prop_enable && !prop_imu_buffer.empty()) { static double last_t_from_lidar_end_time = 0; @@ -578,14 +644,14 @@ void LIVMapper::imu_prop_callback(const ros::TimerEvent &e) { imu_propagate = latest_ekf_state; // drop all useless imu pkg - while ((!prop_imu_buffer.empty() && prop_imu_buffer.front().header.stamp.toSec() < latest_ekf_time)) + while ((!prop_imu_buffer.empty() && stamp2Sec(prop_imu_buffer.front().header.stamp) < latest_ekf_time)) { prop_imu_buffer.pop_front(); } last_t_from_lidar_end_time = 0; for (int i = 0; i < prop_imu_buffer.size(); i++) { - double t_from_lidar_end_time = prop_imu_buffer[i].header.stamp.toSec() - latest_ekf_time; + double t_from_lidar_end_time = stamp2Sec(prop_imu_buffer[i].header.stamp) - latest_ekf_time; double dt = t_from_lidar_end_time - last_t_from_lidar_end_time; // cout << "prop dt" << dt << ", " << t_from_lidar_end_time << ", " << last_t_from_lidar_end_time << endl; V3D acc_imu(prop_imu_buffer[i].linear_acceleration.x, prop_imu_buffer[i].linear_acceleration.y, prop_imu_buffer[i].linear_acceleration.z); @@ -599,7 +665,7 @@ void LIVMapper::imu_prop_callback(const ros::TimerEvent &e) { V3D acc_imu(newest_imu.linear_acceleration.x, newest_imu.linear_acceleration.y, newest_imu.linear_acceleration.z); V3D omg_imu(newest_imu.angular_velocity.x, newest_imu.angular_velocity.y, newest_imu.angular_velocity.z); - double t_from_lidar_end_time = newest_imu.header.stamp.toSec() - latest_ekf_time; + double t_from_lidar_end_time = stamp2Sec(newest_imu.header.stamp) - latest_ekf_time; double dt = t_from_lidar_end_time - last_t_from_lidar_end_time; prop_imu_once(imu_propagate, dt, acc_imu, omg_imu); last_t_from_lidar_end_time = t_from_lidar_end_time; @@ -622,7 +688,7 @@ void LIVMapper::imu_prop_callback(const ros::TimerEvent &e) imu_prop_odom.twist.twist.linear.x = vel_i.x(); imu_prop_odom.twist.twist.linear.y = vel_i.y(); imu_prop_odom.twist.twist.linear.z = vel_i.z(); - pubImuPropOdom.publish(imu_prop_odom); + pubImuPropOdom->publish(imu_prop_odom); } mtx_buffer_imu_prop.unlock(); } @@ -668,7 +734,7 @@ template Matrix LIVMapper::pointBodyToWorld(const Matrix po(p[0], p[1], p[2]); + Eigen::Matrix po(p[0], p[1], p[2]); return po; } @@ -682,53 +748,53 @@ void LIVMapper::RGBpointBodyToWorld(PointType const *const pi, PointType *const po->intensity = pi->intensity; } -void LIVMapper::standard_pcl_cbk(const sensor_msgs::PointCloud2::ConstPtr &msg) +void LIVMapper::standard_pcl_cbk(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg) { if (!lidar_en) return; mtx_buffer.lock(); // cout<<"got feature"<header.stamp.toSec() < last_timestamp_lidar) + if (stamp2Sec(msg->header.stamp) < last_timestamp_lidar) { - ROS_ERROR("lidar loop back, clear buffer"); + RCLCPP_ERROR(this->node->get_logger(),"lidar loop back, clear buffer"); lid_raw_data_buffer.clear(); } - // ROS_INFO("get point cloud at time: %.6f", msg->header.stamp.toSec()); + // ROS_INFO("get point cloud at time: %.6f", stamp2Sec(msg->header.stamp)); PointCloudXYZI::Ptr ptr(new PointCloudXYZI()); p_pre->process(msg, ptr); lid_raw_data_buffer.push_back(ptr); - lid_header_time_buffer.push_back(msg->header.stamp.toSec()); - last_timestamp_lidar = msg->header.stamp.toSec(); + lid_header_time_buffer.push_back(stamp2Sec(msg->header.stamp)); + last_timestamp_lidar = stamp2Sec(msg->header.stamp); mtx_buffer.unlock(); sig_buffer.notify_all(); } -void LIVMapper::livox_pcl_cbk(const livox_ros_driver::CustomMsg::ConstPtr &msg_in) +void LIVMapper::livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::ConstSharedPtr &msg_in) { if (!lidar_en) return; mtx_buffer.lock(); - livox_ros_driver::CustomMsg::Ptr msg(new livox_ros_driver::CustomMsg(*msg_in)); - // if ((abs(msg->header.stamp.toSec() - last_timestamp_lidar) > 0.2 && last_timestamp_lidar > 0) || sync_jump_flag) + livox_ros_driver2::msg::CustomMsg::SharedPtr msg(new livox_ros_driver2::msg::CustomMsg(*msg_in)); + // if ((abs(stamp2Sec(msg->header.stamp) - last_timestamp_lidar) > 0.2 && last_timestamp_lidar > 0) || sync_jump_flag) // { - // ROS_WARN("lidar jumps %.3f\n", msg->header.stamp.toSec() - last_timestamp_lidar); + // ROS_WARN("lidar jumps %.3f\n", stamp2Sec(msg->header.stamp) - last_timestamp_lidar); // sync_jump_flag = true; - // msg->header.stamp = ros::Time().fromSec(last_timestamp_lidar + 0.1); + // msg->header.stamp = rclcpp::Time().fromSec(last_timestamp_lidar + 0.1); // } - if (abs(last_timestamp_imu - msg->header.stamp.toSec()) > 1.0 && !imu_buffer.empty()) + if (abs(last_timestamp_imu - stamp2Sec(msg->header.stamp)) > 1.0 && !imu_buffer.empty()) { - double timediff_imu_wrt_lidar = last_timestamp_imu - msg->header.stamp.toSec(); - printf("\033[95mSelf sync IMU and LiDAR, HARD time lag is %.10lf \n\033[0m", timediff_imu_wrt_lidar - 0.100); + double timediff_imu_wrt_lidar = last_timestamp_imu - stamp2Sec(msg->header.stamp); + RCLCPP_INFO(this->node->get_logger(), "\033[95mSelf sync IMU and LiDAR, HARD time lag is %.10lf \n\033[0m", timediff_imu_wrt_lidar - 0.100); // imu_time_offset = timediff_imu_wrt_lidar; } - double cur_head_time = msg->header.stamp.toSec(); - ROS_INFO("Get LiDAR, its header time: %.6f", cur_head_time); + double cur_head_time = stamp2Sec(msg->header.stamp); + RCLCPP_INFO(this->node->get_logger(), "Get LiDAR, its header time: %.6f", cur_head_time); if (cur_head_time < last_timestamp_lidar) { - ROS_ERROR("lidar loop back, clear buffer"); + RCLCPP_ERROR(this->node->get_logger(), "lidar loop back, clear buffer"); lid_raw_data_buffer.clear(); } - // ROS_INFO("get point cloud at time: %.6f", msg->header.stamp.toSec()); + RCLCPP_INFO(this->node->get_logger(), "get point cloud at time: %.6f", stamp2Sec(msg->header.stamp)); PointCloudXYZI::Ptr ptr(new PointCloudXYZI()); p_pre->process(msg, ptr); @@ -746,23 +812,23 @@ void LIVMapper::livox_pcl_cbk(const livox_ros_driver::CustomMsg::ConstPtr &msg_i sig_buffer.notify_all(); } -void LIVMapper::imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in) +void LIVMapper::imu_cbk(const sensor_msgs::msg::Imu::ConstSharedPtr &msg_in) { if (!imu_en) return; if (last_timestamp_lidar < 0.0) return; - // ROS_INFO("get imu at time: %.6f", msg_in->header.stamp.toSec()); - sensor_msgs::Imu::Ptr msg(new sensor_msgs::Imu(*msg_in)); - msg->header.stamp = ros::Time().fromSec(msg->header.stamp.toSec() - imu_time_offset); - double timestamp = msg->header.stamp.toSec(); + RCLCPP_INFO(this->node->get_logger(), "get imu at time: %.6f", stamp2Sec(msg_in->header.stamp)); + sensor_msgs::msg::Imu::SharedPtr msg(new sensor_msgs::msg::Imu(*msg_in)); + msg->header.stamp = sec2Stamp(stamp2Sec(msg->header.stamp) - imu_time_offset); + double timestamp = stamp2Sec(msg->header.stamp); if (fabs(last_timestamp_lidar - timestamp) > 0.5 && (!ros_driver_fix_en)) { - ROS_WARN("IMU and LiDAR not synced! delta time: %lf .\n", last_timestamp_lidar - timestamp); + RCLCPP_WARN(this->node->get_logger(), "IMU and LiDAR not synced! delta time: %lf .\n", last_timestamp_lidar - timestamp); } if (ros_driver_fix_en) timestamp += std::round(last_timestamp_lidar - timestamp); - msg->header.stamp = ros::Time().fromSec(timestamp); + msg->header.stamp = sec2Stamp(timestamp); mtx_buffer.lock(); @@ -770,23 +836,22 @@ void LIVMapper::imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in) { mtx_buffer.unlock(); sig_buffer.notify_all(); - ROS_ERROR("imu loop back, offset: %lf \n", last_timestamp_imu - timestamp); + RCLCPP_ERROR(this->node->get_logger(), "imu loop back, offset: %lf \n", last_timestamp_imu - timestamp); return; } - // if (last_timestamp_imu > 0.0 && timestamp > last_timestamp_imu + 0.2) - // { - - // ROS_WARN("imu time stamp Jumps %0.4lf seconds \n", timestamp - last_timestamp_imu); - // mtx_buffer.unlock(); - // sig_buffer.notify_all(); - // return; - // } + if (last_timestamp_imu > 0.0 && timestamp > last_timestamp_imu + 0.2) + { + RCLCPP_WARN(this->node->get_logger(), "imu time stamp Jumps %0.4lf seconds \n", timestamp - last_timestamp_imu); + mtx_buffer.unlock(); + sig_buffer.notify_all(); + return; + } last_timestamp_imu = timestamp; imu_buffer.push_back(msg); - // cout<<"got imu: "<image; + img = cv_bridge::toCvShare(img_msg, "bgr8")->image; return img; } // static int i = 0; -void LIVMapper::img_cbk(const sensor_msgs::ImageConstPtr &msg_in) +void LIVMapper::img_cbk(const sensor_msgs::msg::Image::ConstSharedPtr &msg_in) { if (!img_en) return; - sensor_msgs::Image::Ptr msg(new sensor_msgs::Image(*msg_in)); - // if ((abs(msg->header.stamp.toSec() - last_timestamp_img) > 0.2 && last_timestamp_img > 0) || sync_jump_flag) + sensor_msgs::msg::Image::SharedPtr msg(new sensor_msgs::msg::Image(*msg_in)); + // if ((abs(stamp2Sec(msg->header.stamp) - last_timestamp_img) > 0.2 && last_timestamp_img > 0) || sync_jump_flag) // { - // ROS_WARN("img jumps %.3f\n", msg->header.stamp.toSec() - last_timestamp_img); + // RCLCPP_WARN(this->node->get_logger(), "img jumps %.3f\n", stamp2Sec(msg->header.stamp) - last_timestamp_img); // sync_jump_flag = true; - // msg->header.stamp = ros::Time().fromSec(last_timestamp_img + 0.1); + // msg->header.stamp = rclcpp::Time().fromSec(last_timestamp_img + 0.1); // } // Hiliti2022 40Hz @@ -824,15 +889,15 @@ void LIVMapper::img_cbk(const sensor_msgs::ImageConstPtr &msg_in) // i++; // if (i % 4 != 0) return; // } - // double msg_header_time = msg->header.stamp.toSec(); - double msg_header_time = msg->header.stamp.toSec() + img_time_offset; + // double msg_header_time = stamp2Sec(msg->header.stamp); + double msg_header_time = stamp2Sec(msg->header.stamp) + img_time_offset; if (abs(msg_header_time - last_timestamp_img) < 0.001) return; - ROS_INFO("Get image, its header time: %.6f", msg_header_time); + RCLCPP_INFO(this->node->get_logger(), "Get image, its header time: %.6f", msg_header_time); if (last_timestamp_lidar < 0) return; if (msg_header_time < last_timestamp_img) { - ROS_ERROR("image loop back. \n"); + RCLCPP_ERROR(this->node->get_logger(), "image loop back. \n"); return; } @@ -842,7 +907,7 @@ void LIVMapper::img_cbk(const sensor_msgs::ImageConstPtr &msg_in) if (img_time_correct - last_timestamp_img < 0.02) { - ROS_WARN("Image need Jumps: %.6f", img_time_correct); + RCLCPP_WARN(this->node->get_logger(), "Image need Jumps: %.6f", img_time_correct); mtx_buffer.unlock(); sig_buffer.notify_all(); return; @@ -900,7 +965,7 @@ bool LIVMapper::sync_packages(LidarMeasureGroup &meas) mtx_buffer.lock(); while (!imu_buffer.empty()) { - if (imu_buffer.front()->header.stamp.toSec() > meas.lidar_frame_end_time) break; + if (stamp2Sec(imu_buffer.front()->header.stamp) > meas.lidar_frame_end_time) break; m.imu.push_back(imu_buffer.front()); imu_buffer.pop_front(); } @@ -941,19 +1006,19 @@ bool LIVMapper::sync_packages(LidarMeasureGroup &meas) // meas.last_lio_update_time); double lid_newest_time = lid_header_time_buffer.back() + lid_raw_data_buffer.back()->points.back().curvature / double(1000); - double imu_newest_time = imu_buffer.back()->header.stamp.toSec(); + double imu_newest_time = stamp2Sec(imu_buffer.back()->header.stamp); if (img_capture_time < meas.last_lio_update_time + 0.00001) { img_buffer.pop_front(); img_time_buffer.pop_front(); - ROS_ERROR("[ Data Cut ] Throw one image frame! \n"); + RCLCPP_ERROR(this->node->get_logger(), "[ Data Cut ] Throw one image frame! \n"); return false; } if (img_capture_time > lid_newest_time || img_capture_time > imu_newest_time) { - // ROS_ERROR("lost first camera frame"); + // RCLCPP_ERROR(this->node->get_logger(), "lost first camera frame"); // printf("img_capture_time, lid_newest_time, imu_newest_time: %lf , %lf // , %lf \n", img_capture_time, lid_newest_time, imu_newest_time); return false; @@ -968,13 +1033,13 @@ bool LIVMapper::sync_packages(LidarMeasureGroup &meas) mtx_buffer.lock(); while (!imu_buffer.empty()) { - if (imu_buffer.front()->header.stamp.toSec() > m.lio_time) break; + if (stamp2Sec(imu_buffer.front()->header.stamp) > m.lio_time) break; - if (imu_buffer.front()->header.stamp.toSec() > meas.last_lio_update_time) m.imu.push_back(imu_buffer.front()); + if (stamp2Sec(imu_buffer.front()->header.stamp) > meas.last_lio_update_time) m.imu.push_back(imu_buffer.front()); imu_buffer.pop_front(); // printf("[ Data Cut ] imu time: %lf \n", - // imu_buffer.front()->header.stamp.toSec()); + // stamp2Sec(imu_buffer.front()->header.stamp)); } mtx_buffer.unlock(); sig_buffer.notify_all(); @@ -1029,7 +1094,7 @@ bool LIVMapper::sync_packages(LidarMeasureGroup &meas) meas.lio_vio_flg = VIO; // printf("[ Data Cut ] VIO \n"); meas.measures.clear(); - double imu_time = imu_buffer.front()->header.stamp.toSec(); + double imu_time = stamp2Sec(imu_buffer.front()->header.stamp); struct MeasureGroup m; m.vio_time = img_capture_time; @@ -1038,12 +1103,12 @@ bool LIVMapper::sync_packages(LidarMeasureGroup &meas) mtx_buffer.lock(); // while ((!imu_buffer.empty() && (imu_time < img_capture_time))) // { - // imu_time = imu_buffer.front()->header.stamp.toSec(); + // imu_time = stamp2Sec(imu_buffer.front()->header.stamp); // if (imu_time > img_capture_time) break; // m.imu.push_back(imu_buffer.front()); // imu_buffer.pop_front(); // printf("[ Data Cut ] imu time: %lf \n", - // imu_buffer.front()->header.stamp.toSec()); + // stamp2Sec(imu_buffer.front()->header.stamp)); // } img_buffer.pop_front(); img_time_buffer.pop_front(); @@ -1096,21 +1161,21 @@ bool LIVMapper::sync_packages(LidarMeasureGroup &meas) return false; } } - ROS_ERROR("out sync"); + RCLCPP_ERROR(this->node->get_logger(), "out sync"); } void LIVMapper::publish_img_rgb(const image_transport::Publisher &pubImage, VIOManagerPtr vio_manager) { cv::Mat img_rgb = vio_manager->img_cp; cv_bridge::CvImage out_msg; - out_msg.header.stamp = ros::Time::now(); + out_msg.header.stamp = this->node->get_clock()->now(); // out_msg.header.frame_id = "camera_init"; out_msg.encoding = sensor_msgs::image_encodings::BGR8; out_msg.image = img_rgb; pubImage.publish(out_msg.toImageMsg()); } -void LIVMapper::publish_frame_world(const ros::Publisher &pubLaserCloudFullRes, VIOManagerPtr vio_manager) +void LIVMapper::publish_frame_world(const rclcpp::Publisher::SharedPtr &pubLaserCloudFullRes, VIOManagerPtr vio_manager) { if (pcl_w_wait_pub->empty()) return; PointCloudXYZRGB::Ptr laserCloudWorldRGB(new PointCloudXYZRGB()); @@ -1160,7 +1225,7 @@ void LIVMapper::publish_frame_world(const ros::Publisher &pubLaserCloudFullRes, } /*** Publish Frame ***/ - sensor_msgs::PointCloud2 laserCloudmsg; + sensor_msgs::msg::PointCloud2 laserCloudmsg; if (img_en) { // cout << "RGB pointcloud size: " << laserCloudWorldRGB->size() << endl; @@ -1170,9 +1235,9 @@ void LIVMapper::publish_frame_world(const ros::Publisher &pubLaserCloudFullRes, { pcl::toROSMsg(*pcl_w_wait_pub, laserCloudmsg); } - laserCloudmsg.header.stamp = ros::Time::now(); //.fromSec(last_timestamp_lidar); + laserCloudmsg.header.stamp = this->node->get_clock()->now(); //.fromSec(last_timestamp_lidar); laserCloudmsg.header.frame_id = "camera_init"; - pubLaserCloudFullRes.publish(laserCloudmsg); + pubLaserCloudFullRes->publish(laserCloudmsg); /**************** save map ****************/ /* 1. make sure you have enough memories @@ -1222,7 +1287,7 @@ void LIVMapper::publish_frame_world(const ros::Publisher &pubLaserCloudFullRes, PointCloudXYZI().swap(*pcl_w_wait_pub); } -void LIVMapper::publish_visual_sub_map(const ros::Publisher &pubSubVisualMap) +void LIVMapper::publish_visual_sub_map(const rclcpp::Publisher::SharedPtr &pubSubVisualMap) { PointCloudXYZI::Ptr laserCloudFullRes(visual_sub_map); int size = laserCloudFullRes->points.size(); if (size == 0) return; @@ -1230,15 +1295,15 @@ void LIVMapper::publish_visual_sub_map(const ros::Publisher &pubSubVisualMap) *sub_pcl_visual_map_pub = *laserCloudFullRes; if (1) { - sensor_msgs::PointCloud2 laserCloudmsg; + sensor_msgs::msg::PointCloud2 laserCloudmsg; pcl::toROSMsg(*sub_pcl_visual_map_pub, laserCloudmsg); - laserCloudmsg.header.stamp = ros::Time::now(); + laserCloudmsg.header.stamp = this->node->get_clock()->now(); laserCloudmsg.header.frame_id = "camera_init"; - pubSubVisualMap.publish(laserCloudmsg); + pubSubVisualMap->publish(laserCloudmsg); } } -void LIVMapper::publish_effect_world(const ros::Publisher &pubLaserCloudEffect, const std::vector &ptpl_list) +void LIVMapper::publish_effect_world(const rclcpp::Publisher::SharedPtr &pubLaserCloudEffect, const std::vector &ptpl_list) { int effect_feat_num = ptpl_list.size(); PointCloudXYZI::Ptr laserCloudWorld(new PointCloudXYZI(effect_feat_num, 1)); @@ -1248,11 +1313,11 @@ void LIVMapper::publish_effect_world(const ros::Publisher &pubLaserCloudEffect, laserCloudWorld->points[i].y = ptpl_list[i].point_w_[1]; laserCloudWorld->points[i].z = ptpl_list[i].point_w_[2]; } - sensor_msgs::PointCloud2 laserCloudFullRes3; + sensor_msgs::msg::PointCloud2 laserCloudFullRes3; pcl::toROSMsg(*laserCloudWorld, laserCloudFullRes3); - laserCloudFullRes3.header.stamp = ros::Time::now(); + laserCloudFullRes3.header.stamp = this->node->get_clock()->now(); laserCloudFullRes3.header.frame_id = "camera_init"; - pubLaserCloudEffect.publish(laserCloudFullRes3); + pubLaserCloudEffect->publish(laserCloudFullRes3); } template void LIVMapper::set_posestamp(T &out) @@ -1266,39 +1331,40 @@ template void LIVMapper::set_posestamp(T &out) out.orientation.w = geoQuat.w; } -void LIVMapper::publish_odometry(const ros::Publisher &pubOdomAftMapped) +void LIVMapper::publish_odometry(const rclcpp::Publisher::SharedPtr &pubOdomAftMapped) { odomAftMapped.header.frame_id = "camera_init"; odomAftMapped.child_frame_id = "aft_mapped"; - odomAftMapped.header.stamp = ros::Time::now(); //.ros::Time()fromSec(last_timestamp_lidar); + odomAftMapped.header.stamp = this->node->get_clock()->now(); //.ros::Time()fromSec(last_timestamp_lidar); set_posestamp(odomAftMapped.pose.pose); - static tf::TransformBroadcaster br; - tf::Transform transform; - tf::Quaternion q; - transform.setOrigin(tf::Vector3(_state.pos_end(0), _state.pos_end(1), _state.pos_end(2))); + static std::shared_ptr br; + br = std::make_shared(this->node); + tf2::Transform transform; + tf2::Quaternion q; + transform.setOrigin(tf2::Vector3(_state.pos_end(0), _state.pos_end(1), _state.pos_end(2))); q.setW(geoQuat.w); q.setX(geoQuat.x); q.setY(geoQuat.y); q.setZ(geoQuat.z); transform.setRotation(q); - br.sendTransform( tf::StampedTransform(transform, odomAftMapped.header.stamp, "camera_init", "aft_mapped") ); - pubOdomAftMapped.publish(odomAftMapped); + br->sendTransform(geometry_msgs::msg::TransformStamped(createTransformStamped(transform, odomAftMapped.header.stamp, "camera_init", "aft_mapped"))); + pubOdomAftMapped->publish(odomAftMapped); } -void LIVMapper::publish_mavros(const ros::Publisher &mavros_pose_publisher) +void LIVMapper::publish_mavros(const rclcpp::Publisher::SharedPtr &mavros_pose_publisher) { - msg_body_pose.header.stamp = ros::Time::now(); + msg_body_pose.header.stamp = this->node->get_clock()->now(); msg_body_pose.header.frame_id = "camera_init"; set_posestamp(msg_body_pose.pose); - mavros_pose_publisher.publish(msg_body_pose); + mavros_pose_publisher->publish(msg_body_pose); } -void LIVMapper::publish_path(const ros::Publisher pubPath) +void LIVMapper::publish_path(const rclcpp::Publisher::SharedPtr &pubPath) { set_posestamp(msg_body_pose.pose); - msg_body_pose.header.stamp = ros::Time::now(); + msg_body_pose.header.stamp = this->node->get_clock()->now(); msg_body_pose.header.frame_id = "camera_init"; path.poses.push_back(msg_body_pose); - pubPath.publish(path); + pubPath->publish(path); } \ No newline at end of file diff --git a/src/frame.cpp b/src/frame.cpp index 2a0b1268..643dd10e 100644 --- a/src/frame.cpp +++ b/src/frame.cpp @@ -10,7 +10,7 @@ This file is subject to the terms and conditions outlined in the 'LICENSE' file, which is included as part of this source code package. */ -#include +#include #include "feature.h" #include "frame.h" #include "visual_point.h" diff --git a/src/main.cpp b/src/main.cpp index 135b3363..61dd592a 100755 --- a/src/main.cpp +++ b/src/main.cpp @@ -2,11 +2,13 @@ int main(int argc, char **argv) { - ros::init(argc, argv, "laserMapping"); - ros::NodeHandle nh; - image_transport::ImageTransport it(nh); - LIVMapper mapper(nh); - mapper.initializeSubscribersAndPublishers(nh, it); - mapper.run(); + rclcpp::init(argc, argv); + rclcpp::NodeOptions options; + rclcpp::Node::SharedPtr nh; + image_transport::ImageTransport it_(nh); + LIVMapper mapper(nh, "laserMapping"); + mapper.initializeSubscribersAndPublishers(nh, it_); + mapper.run(nh); + rclcpp::shutdown(); return 0; } \ No newline at end of file diff --git a/src/preprocess.cpp b/src/preprocess.cpp index 322776b0..3f5745b1 100755 --- a/src/preprocess.cpp +++ b/src/preprocess.cpp @@ -51,13 +51,13 @@ void Preprocess::set(bool feat_en, int lid_type, double bld, int pfilt_num) point_filter_num = pfilt_num; } -void Preprocess::process(const livox_ros_driver::CustomMsg::ConstPtr &msg, PointCloudXYZI::Ptr &pcl_out) +void Preprocess::process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out) { avia_handler(msg); *pcl_out = pl_surf; } -void Preprocess::process(const sensor_msgs::PointCloud2::ConstPtr &msg, PointCloudXYZI::Ptr &pcl_out) +void Preprocess::process(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg, PointCloudXYZI::Ptr &pcl_out) { switch (lidar_type) { @@ -87,7 +87,7 @@ void Preprocess::process(const sensor_msgs::PointCloud2::ConstPtr &msg, PointClo *pcl_out = pl_surf; } -void Preprocess::avia_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg) +void Preprocess::avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg) { pl_surf.clear(); pl_corn.clear(); @@ -195,7 +195,7 @@ void Preprocess::avia_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg) printf("[ Preprocess ] Output point number: %zu \n", pl_surf.points.size()); } -void Preprocess::l515_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) +void Preprocess::l515_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg) { pl_surf.clear(); pl_corn.clear(); @@ -206,7 +206,7 @@ void Preprocess::l515_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) pl_corn.reserve(plsize); pl_surf.reserve(plsize); - double time_stamp = msg->header.stamp.toSec(); + double time_stamp = stamp2Sec(msg->header.stamp); // cout << "===================================" << endl; // printf("Pt size = %d, N_SCANS = %d\r\n", plsize, N_SCANS); for (int i = 0; i < pl_orig.points.size(); i++) @@ -235,7 +235,7 @@ void Preprocess::l515_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) // pub_func(pl_surf, pub_corn, msg->header.stamp); } -void Preprocess::oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) +void Preprocess::oust64_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg) { pl_surf.clear(); pl_corn.clear(); @@ -297,7 +297,7 @@ void Preprocess::oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) } else { - double time_stamp = msg->header.stamp.toSec(); + double time_stamp = stamp2Sec(msg->header.stamp); // cout << "===================================" << endl; // printf("Pt size = %d, N_SCANS = %d\r\n", plsize, N_SCANS); for (int i = 0; i < pl_orig.points.size(); i++) @@ -335,7 +335,7 @@ void Preprocess::oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) #define MAX_LINE_NUM 64 -void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) +void Preprocess::velodyne_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg) { pl_surf.clear(); pl_corn.clear(); @@ -502,7 +502,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) // pub_func(pl_surf, pub_corn, msg->header.stamp); } -void Preprocess::Pandar128_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) +void Preprocess::Pandar128_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg) { pl_surf.clear(); @@ -553,7 +553,7 @@ void Preprocess::Pandar128_handler(const sensor_msgs::PointCloud2::ConstPtr &msg // cout << GREEN << "pl_surf.points[31000].timestamp: " << pl_surf.points[31000].curvature << RESET << endl; } -void Preprocess::xt32_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) +void Preprocess::xt32_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg) { pl_surf.clear(); pl_corn.clear(); @@ -933,11 +933,11 @@ void Preprocess::give_feature(pcl::PointCloud &pl, vector &t } } -void Preprocess::pub_func(PointCloudXYZI &pl, const ros::Time &ct) +void Preprocess::pub_func(PointCloudXYZI &pl, const rclcpp::Time &ct) { pl.height = 1; pl.width = pl.size(); - sensor_msgs::PointCloud2 output; + sensor_msgs::msg::PointCloud2 output; pcl::toROSMsg(pl, output); output.header.frame_id = "livox"; output.header.stamp = ct; diff --git a/src/utils.cpp b/src/utils.cpp new file mode 100644 index 00000000..1e453c82 --- /dev/null +++ b/src/utils.cpp @@ -0,0 +1,19 @@ +// utils.cpp +#include +#include // for int64_t +#include // for std::numeric_limits +#include // for std::out_of_range + +std::vector convertToIntVectorSafe(const std::vector& int64_vector) { + std::vector int_vector; + int_vector.reserve(int64_vector.size()); // 预留空间以提高效率 + + for (int64_t value : int64_vector) { + if (value < std::numeric_limits::min() || value > std::numeric_limits::max()) { + throw std::out_of_range("Value is out of range for int"); + } + int_vector.push_back(static_cast(value)); + } + + return int_vector; +} diff --git a/src/vio.cpp b/src/vio.cpp index 2ff8fd0f..af55c377 100755 --- a/src/vio.cpp +++ b/src/vio.cpp @@ -12,6 +12,7 @@ which is included as part of this source code package. #include "vio.h" +using namespace Eigen; VIOManager::VIOManager() { // downSizeFilter.setLeafSize(0.2, 0.2, 0.2); @@ -250,12 +251,12 @@ void VIOManager::insertPointIntoVoxelMap(VisualPoint *pt_new) } void VIOManager::getWarpMatrixAffineHomography(const vk::AbstractCamera &cam, const V2D &px_ref, const V3D &xyz_ref, const V3D &normal_ref, - const SE3 &T_cur_ref, const int level_ref, Matrix2d &A_cur_ref) + const SE3 &T_cur_ref, const int level_ref, Matrix2d &A_cur_ref) { // create homography matrix const V3D t = T_cur_ref.inverse().translation(); const Eigen::Matrix3d H_cur_ref = - T_cur_ref.rotation_matrix() * (normal_ref.dot(xyz_ref) * Eigen::Matrix3d::Identity() - t * normal_ref.transpose()); + T_cur_ref.rotationMatrix() * (normal_ref.dot(xyz_ref) * Eigen::Matrix3d::Identity() - t * normal_ref.transpose()); // Compute affine warp matrix A_ref_cur using homography projection const int kHalfPatchSize = 4; V3D f_du_ref(cam.cam2world(px_ref + Eigen::Vector2d(kHalfPatchSize, 0) * (1 << level_ref))); @@ -273,7 +274,7 @@ void VIOManager::getWarpMatrixAffineHomography(const vk::AbstractCamera &cam, co } void VIOManager::getWarpMatrixAffine(const vk::AbstractCamera &cam, const Vector2d &px_ref, const Vector3d &f_ref, const double depth_ref, - const SE3 &T_cur_ref, const int level_ref, const int pyramid_level, const int halfpatch_size, + const SE3 &T_cur_ref, const int level_ref, const int pyramid_level, const int halfpatch_size, Matrix2d &A_cur_ref) { // Compute affine warp matrix A_ref_cur @@ -457,7 +458,7 @@ void VIOManager::retrieveFromVisualSparseMap(cv::Mat img, vector & if (pt == nullptr) continue; if (pt->obs_.size() == 0) continue; - V3D norm_vec(new_frame_->T_f_w_.rotation_matrix() * pt->normal_); + V3D norm_vec(new_frame_->T_f_w_.rotationMatrix() * pt->normal_); V3D dir(new_frame_->T_f_w_ * pt->pos_); if (dir[2] < 0) continue; // dir.normalize(); @@ -535,7 +536,7 @@ void VIOManager::retrieveFromVisualSparseMap(cv::Mat img, vector & // sub_map_ray.push_back(pt); // cloud_visual_sub_map // add_sample = true; - V3D norm_vec(new_frame_->T_f_w_.rotation_matrix() * pt->normal_); + V3D norm_vec(new_frame_->T_f_w_.rotationMatrix() * pt->normal_); V3D dir(new_frame_->T_f_w_ * pt->pos_); if (dir[2] < 0) continue; dir.normalize(); @@ -698,7 +699,7 @@ void VIOManager::retrieveFromVisualSparseMap(cv::Mat img, vector & if (normal_en) { - V3D norm_vec = (ref_ftr->T_f_w_.rotation_matrix() * pt->normal_).normalized(); + V3D norm_vec = (ref_ftr->T_f_w_.rotationMatrix() * pt->normal_).normalized(); V3D pf(ref_ftr->T_f_w_ * pt->pos_); // V3D pf_norm = pf.normalized(); @@ -864,7 +865,7 @@ void VIOManager::generateVisualMapPoints(cv::Mat img, vector &pg) pointWithVar pt_var = append_voxel_points[i]; V3D pt = pt_var.point_w; - V3D norm_vec(new_frame_->T_f_w_.rotation_matrix() * pt_var.normal); + V3D norm_vec(new_frame_->T_f_w_.rotationMatrix() * pt_var.normal); V3D dir(new_frame_->T_f_w_ * pt); dir.normalize(); double cos_theta = dir.dot(norm_vec); @@ -935,7 +936,7 @@ void VIOManager::updateVisualMapPoints(cv::Mat img) SE3 pose_ref = last_feature->T_f_w_; SE3 delta_pose = pose_ref * pose_cur.inverse(); double delta_p = delta_pose.translation().norm(); - double delta_theta = (delta_pose.rotation_matrix().trace() > 3.0 - 1e-6) ? 0.0 : std::acos(0.5 * (delta_pose.rotation_matrix().trace() - 1)); + double delta_theta = (delta_pose.rotationMatrix().trace() > 3.0 - 1e-6) ? 0.0 : std::acos(0.5 * (delta_pose.rotationMatrix().trace() - 1)); if (delta_p > 0.5 || delta_theta > 0.3) add_flag = true; // 0.5 || 0.3 // Step 3: pixel distance @@ -1046,7 +1047,7 @@ void VIOManager::updateReferencePatch(const unordered_mapT_f_w_ * pt->pos_; - V3D norm_vec = ref_patch_temp->T_f_w_.rotation_matrix() * pt->normal_; + V3D norm_vec = ref_patch_temp->T_f_w_.rotationMatrix() * pt->normal_; pf.normalize(); double cos_angle = pf.dot(norm_vec); // if(fabs(cos_angle) < 0.86) continue; // 20 degree @@ -1136,7 +1137,7 @@ void VIOManager::projectPatchFromRefToCur(const unordered_mapw2c(pt->pos_)); V2D pc_prior(new_frame_->w2c_prior(pt->pos_)); - V3D norm_vec(ref_ftr->T_f_w_.rotation_matrix() * pt->normal_); + V3D norm_vec(ref_ftr->T_f_w_.rotationMatrix() * pt->normal_); V3D pf(ref_ftr->T_f_w_ * pt->pos_); if (pf.dot(norm_vec) < 0) norm_vec = -norm_vec; @@ -1350,7 +1351,7 @@ void VIOManager::precomputeReferencePatches(int level) double depth((pt->pos_ - pt->ref_patch->pos()).norm()); V3D pf = pt->ref_patch->f_ * depth; V2D pc = pt->ref_patch->px_; - M3D R_ref_w = pt->ref_patch->T_f_w_.rotation_matrix(); + M3D R_ref_w = pt->ref_patch->T_f_w_.rotationMatrix(); computeProjectionJacobian(pf, Jdpi); p_w_hat << SKEW_SYM_MATRX(pt->pos_); @@ -1771,7 +1772,7 @@ void VIOManager::dumpDataForColmap() pinhole_cam->undistortImage(img_rgb, img_rgb_undistort); cv::imwrite(image_path, img_rgb_undistort); - Eigen::Quaterniond q(new_frame_->T_f_w_.rotation_matrix()); + Eigen::Quaterniond q(new_frame_->T_f_w_.rotationMatrix()); Eigen::Vector3d t = new_frame_->T_f_w_.translation(); fout_colmap << cnt << " " << std::fixed << std::setprecision(6) // 保证浮点数精度为6位 diff --git a/src/voxel_map.cpp b/src/voxel_map.cpp index 01923cca..76c3c893 100644 --- a/src/voxel_map.cpp +++ b/src/voxel_map.cpp @@ -11,7 +11,7 @@ which is included as part of this source code package. */ #include "voxel_map.h" - +using namespace Eigen; void calcBodyCov(Eigen::Vector3d &pb, const float range_inc, const float degree_inc, Eigen::Matrix3d &cov) { if (pb[2] == 0) pb[2] = 0.0001; @@ -33,23 +33,39 @@ void calcBodyCov(Eigen::Vector3d &pb, const float range_inc, const float degree_ cov = direction * range_var * direction.transpose() + A * direction_var * A.transpose(); } -void loadVoxelConfig(ros::NodeHandle &nh, VoxelMapConfig &voxel_config) +void loadVoxelConfig(rclcpp::Node::SharedPtr &node, VoxelMapConfig &voxel_config) { - nh.param("publish/pub_plane_en", voxel_config.is_pub_plane_map_, false); - - nh.param("lio/max_layer", voxel_config.max_layer_, 1); - nh.param("lio/voxel_size", voxel_config.max_voxel_size_, 0.5); - nh.param("lio/min_eigen_value", voxel_config.planner_threshold_, 0.01); - nh.param("lio/sigma_num", voxel_config.sigma_num_, 3); - nh.param("lio/beam_err", voxel_config.beam_err_, 0.02); - nh.param("lio/dept_err", voxel_config.dept_err_, 0.05); - nh.param>("lio/layer_init_num", voxel_config.layer_init_num_, vector{5,5,5,5,5}); - nh.param("lio/max_points_num", voxel_config.max_points_num_, 50); - nh.param("lio/max_iterations", voxel_config.max_iterations_, 5); - - nh.param("local_map/map_sliding_en", voxel_config.map_sliding_en, false); - nh.param("local_map/half_map_size", voxel_config.half_map_size, 100); - nh.param("local_map/sliding_thresh", voxel_config.sliding_thresh, 8); + // declare parameter + node->declare_parameter("publish/pub_plane_en", false); + node->declare_parameter("lio/max_layer", 1); + node->declare_parameter("lio/voxel_size", 0.5); + node->declare_parameter("lio/min_eigen_value", 0.01); + node->declare_parameter("lio/sigma_num", 3); + node->declare_parameter("lio/beam_err", 0.02); + node->declare_parameter("lio/dept_err", 0.05); + + // Declaration of parameter of type std::vector won't build, https://github.com/ros2/rclcpp/issues/1585 + node->declare_parameter>("lio/layer_init_num", std::vector{5,5,5,5,5}); + node->declare_parameter("lio/max_points_num", 50); + node->declare_parameter("lio/min_iterations", 5); + node->declare_parameter("local_map/map_sliding_en", false); + node->declare_parameter("local_map/half_map_size", 100); + node->declare_parameter("local_map/sliding_thresh", 8); + + // get parameter + node->get_parameter("publish/pub_plane_en", voxel_config.is_pub_plane_map_); + node->get_parameter("lio/max_layer", voxel_config.max_layer_); + node->get_parameter("lio/voxel_size", voxel_config.max_voxel_size_); + node->get_parameter("lio/min_eigen_value", voxel_config.planner_threshold_); + node->get_parameter("lio/sigma_num", voxel_config.sigma_num_); + node->get_parameter("lio/beam_err", voxel_config.beam_err_); + node->get_parameter("lio/dept_err", voxel_config.dept_err_); + node->get_parameter("lio/layer_init_num", voxel_config.layer_init_num_); + node->get_parameter("lio/max_points_num", voxel_config.max_points_num_); + node->get_parameter("lio/min_iterations", voxel_config.max_iterations_); + node->get_parameter("local_map/map_sliding_en", voxel_config.map_sliding_en); + node->get_parameter("local_map/half_map_size", voxel_config.half_map_size); + node->get_parameter("local_map/sliding_thresh", voxel_config.sliding_thresh); } void VoxelOctoTree::init_plane(const std::vector &points, VoxelPlane *plane) @@ -535,7 +551,7 @@ void VoxelMapManager::BuildVoxelMap() float planer_threshold = config_setting_.planner_threshold_; int max_layer = config_setting_.max_layer_; int max_points_num = config_setting_.max_points_num_; - std::vector layer_init_num = config_setting_.layer_init_num_; + std::vector layer_init_num = convertToIntVectorSafe(config_setting_.layer_init_num_); std::vector input_points; @@ -612,7 +628,7 @@ void VoxelMapManager::UpdateVoxelMap(const std::vector &input_poin float planer_threshold = config_setting_.planner_threshold_; int max_layer = config_setting_.max_layer_; int max_points_num = config_setting_.max_points_num_; - std::vector layer_init_num = config_setting_.layer_init_num_; + std::vector layer_init_num = convertToIntVectorSafe(config_setting_.layer_init_num_); uint plsize = input_points.size(); for (uint i = 0; i < plsize; i++) { @@ -789,9 +805,9 @@ void VoxelMapManager::pubVoxelMap() { double max_trace = 0.25; double pow_num = 0.2; - ros::Rate loop(500); + rclcpp::Rate loop(500); float use_alpha = 0.8; - visualization_msgs::MarkerArray voxel_plane; + visualization_msgs::msg::MarkerArray voxel_plane; voxel_plane.markers.reserve(1000000); std::vector pub_plane_list; for (auto iter = voxel_map_.begin(); iter != voxel_map_.end(); iter++) @@ -813,7 +829,7 @@ void VoxelMapManager::pubVoxelMap() else { alpha = 0; } pubSinglePlane(voxel_plane, "plane", pub_plane_list[i], alpha, plane_rgb); } - voxel_map_pub_.publish(voxel_plane); + voxel_map_pub_->publish(voxel_plane); loop.sleep(); } @@ -834,20 +850,20 @@ void VoxelMapManager::GetUpdatePlane(const VoxelOctoTree *current_octo, const in return; } -void VoxelMapManager::pubSinglePlane(visualization_msgs::MarkerArray &plane_pub, const std::string plane_ns, const VoxelPlane &single_plane, +void VoxelMapManager::pubSinglePlane(visualization_msgs::msg::MarkerArray &plane_pub, const std::string plane_ns, const VoxelPlane &single_plane, const float alpha, const Eigen::Vector3d rgb) { - visualization_msgs::Marker plane; + visualization_msgs::msg::Marker plane; plane.header.frame_id = "camera_init"; - plane.header.stamp = ros::Time(); + plane.header.stamp = rclcpp::Time(); plane.ns = plane_ns; plane.id = single_plane.id_; - plane.type = visualization_msgs::Marker::CYLINDER; - plane.action = visualization_msgs::Marker::ADD; + plane.type = visualization_msgs::msg::Marker::CYLINDER; + plane.action = visualization_msgs::msg::Marker::ADD; plane.pose.position.x = single_plane.center_[0]; plane.pose.position.y = single_plane.center_[1]; plane.pose.position.z = single_plane.center_[2]; - geometry_msgs::Quaternion q; + geometry_msgs::msg::Quaternion q; CalcVectQuation(single_plane.x_normal_, single_plane.y_normal_, single_plane.normal_, q); plane.pose.orientation = q; plane.scale.x = 3 * sqrt(single_plane.max_eigen_value_); @@ -857,12 +873,12 @@ void VoxelMapManager::pubSinglePlane(visualization_msgs::MarkerArray &plane_pub, plane.color.r = rgb(0); plane.color.g = rgb(1); plane.color.b = rgb(2); - plane.lifetime = ros::Duration(); + plane.lifetime = rclcpp::Duration::from_seconds(0.01); plane_pub.markers.push_back(plane); } void VoxelMapManager::CalcVectQuation(const Eigen::Vector3d &x_vec, const Eigen::Vector3d &y_vec, const Eigen::Vector3d &z_vec, - geometry_msgs::Quaternion &q) + geometry_msgs::msg::Quaternion &q) { Eigen::Matrix3d rot; rot << x_vec(0), x_vec(1), x_vec(2), y_vec(0), y_vec(1), y_vec(2), z_vec(0), z_vec(1), z_vec(2); From 48094cb5180d3aade48dd686afb0803d83ec5960 Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Mon, 24 Feb 2025 00:37:50 +0800 Subject: [PATCH 04/21] bug: add normalized to avoid Rcw is not orthogonal --- src/vio.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/vio.cpp b/src/vio.cpp index af55c377..6e14fcfc 100755 --- a/src/vio.cpp +++ b/src/vio.cpp @@ -1694,7 +1694,7 @@ void VIOManager::updateFrameState(StatesGroup state) V3D Pwi(state.pos_end); Rcw = Rci * Rwi.transpose(); Pcw = -Rci * Rwi.transpose() * Pwi + Pci; - new_frame_->T_f_w_ = SE3(Rcw, Pcw); + new_frame_->T_f_w_ = SE3(Eigen::Quaterniond(Rcw).normalized().toRotationMatrix(), Pcw); // avoid R is not orthogonal } void VIOManager::plotTrackedPoints() From 38711df9abb6cba58ea1707d746a167e7396571b Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Mon, 24 Feb 2025 20:43:33 +0800 Subject: [PATCH 05/21] feat: migrate launch .xml to launch.py --- launch/mapping_aviz.launch.py | 117 ++++++++++++++++++++++++++++++++++ 1 file changed, 117 insertions(+) create mode 100644 launch/mapping_aviz.launch.py diff --git a/launch/mapping_aviz.launch.py b/launch/mapping_aviz.launch.py new file mode 100644 index 00000000..d9488b03 --- /dev/null +++ b/launch/mapping_aviz.launch.py @@ -0,0 +1,117 @@ +#!/usr/bin/python3 +# -- coding: utf-8 --** + +import os +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, ExecuteProcess +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from ament_index_python.packages import get_package_share_directory +from launch_ros.actions import Node + +def generate_launch_description(): + + # Find path + config_file_dir = os.path.join(get_package_share_directory("fast_livo"), "config") + rviz_config_file = os.path.join(get_package_share_directory("fast_livo"), "rviz_cfg", "fast_livo2.rviz") + + #Load parameters + avia_config_cmd = os.path.join(config_file_dir, "avia.yaml") + camera_config_cmd = os.path.join(config_file_dir, "camera_pinhole.yaml") + + # Param use_rviz + use_rviz_arg = DeclareLaunchArgument( + "use_rviz", + default_value="False", + description="Whether to launch Rviz2", + ) + + avia_config_arg = DeclareLaunchArgument( + 'avia_params_file', + default_value=avia_config_cmd, + description='Full path to the ROS2 parameters file to use for fast_livo2 nodes', + ) + + camera_config_arg = DeclareLaunchArgument( + 'camera_params_file', + default_value=camera_config_cmd, + description='Full path to the ROS2 parameters file to use for vikit_ros nodes', + ) + + # https://github.com/ros-navigation/navigation2/blob/1c68c212db01f9f75fcb8263a0fbb5dfa711bdea/nav2_bringup/launch/navigation_launch.py#L40 + use_respawn_arg = DeclareLaunchArgument( + 'use_respawn', + default_value='True', + description='Whether to respawn if a node crashes. Applied when composition is disabled.') + + avia_params_file = LaunchConfiguration('avia_params_file') + camera_params_file = LaunchConfiguration('camera_params_file') + use_respawn = LaunchConfiguration('use_respawn') + + return LaunchDescription([ + use_rviz_arg, + avia_config_arg, + camera_config_arg, + use_respawn_arg, + + # play ros2 bag + # ExecuteProcess( + # cmd=[['ros2 bag play ', '~/datasets/Retail_Street ', '--clock ', "-l"]], + # shell=True + # ), + + # use parameter_blackboard as global parameters server and load camera params + # Node( + # package='demo_nodes_cpp', + # executable='parameter_blackboard', + # name='parameter_blackboard', + # # namespace='laserMapping', + # parameters=[ + # camera_params_file + # ], + # output='screen' + # ), + + # republish compressed image to raw image + # https://robotics.stackexchange.com/questions/110939/how-do-i-remap-compressed-video-to-raw-video-in-ros2 + # ros2 run image_transport republish compressed raw --ros-args --remap in:=/left_camera/image --remap out:=/left_camera/image + Node( + package="image_transport", + executable="republish", + name="republish", + arguments=[ # Array of strings/parametric arguments that will end up in process's argv + 'compressed', + 'raw', + ], + remappings=[ + ("in", "/left_camera/image"), + ("out", "/left_camera/image") + ], + output="screen", + respawn=use_respawn, + ), + + Node( + package="fast_livo", + executable="fastlivo_mapping", + name="laserMapping", + parameters=[ + avia_params_file, + ], + # https://docs.ros.org/en/humble/How-To-Guides/Getting-Backtraces-in-ROS-2.html + prefix=[ + # ("gdb -ex run --args"), + # ("valgrind --tool=memcheck --leak-check=full --show-reachable=yes --undef-value-errors=yes --track-fds=yes") + ], + output="screen" + ), + + Node( + condition=IfCondition(LaunchConfiguration("use_rviz")), + package="rviz2", + executable="rviz2", + name="rviz2", + arguments=["-d", rviz_config_file], + output="screen" + ), + ]) From 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zt`*8gJsx+_YLj;S$!2r?A{U2-(+ia-6vbIM1!&7Z%!NJ*dnSEz=pU(9?+-h zxO(_b#{z_(t0~W)ydIu7k6A@U-#u|vVnbIAOTr@~^Zjd=#2omu zR89wL3VWP$Qli#OU;V6sJ3|}E*s^e-EY+YHMV5Al)SS`3RXmTvRx8376dYVVFpi+( zwFQ=9Y?&Qow1xG$+O00O%UwTVClwvo#LUBW?DvXM#xU4{byT3=Oh@OCzBqu;q#2M@ zG+`%n75Q4u=!-W?fhK;dd-2HOZ&PmJ_g=mh-&x68YfEiTDVMgie9{{4yY%dGjyDG3 zH*Re3E6p&QnIF#fXWd2=re-|G`iGtN^T8Rhstf#ZE51T+?zKI@7zlZVs$SbWmZHNe z_swIe`aE{d&CLL+)o1i8XYSPBkkwza!$4VRJ=39<&*oX(<)4;0Z>n;!!p4*mrDarLFVbP%5%&$->utt)I%D z44GPRFIo6;V!C&1N+>tu@D>-t*xEH0%|4v-820gf&R($N$b;v;^?eW87}Br(*;y2) ztAF{%VafCS+-?u@P3-^V^G5x9i1hQD>>OvV9+TVB Date: Mon, 24 Feb 2025 21:37:06 +0800 Subject: [PATCH 07/21] feat: update LIVMapper.cpp --- src/LIVMapper.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/LIVMapper.cpp b/src/LIVMapper.cpp index eb3618dd..f3da37e5 100755 --- a/src/LIVMapper.cpp +++ b/src/LIVMapper.cpp @@ -799,7 +799,7 @@ void LIVMapper::livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::ConstShar p_pre->process(msg, ptr); if (!ptr || ptr->empty()) { - ROS_ERROR("Received an empty point cloud"); + RCLCPP_ERROR(this->node->get_logger(), "Received an empty point cloud"); mtx_buffer.unlock(); return; } From d651afb292810a3d26869e74158f8207f60bfd4c Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Mon, 24 Feb 2025 21:38:02 +0800 Subject: [PATCH 08/21] feat: update fast_livo2.rviz --- rviz_cfg/fast_livo2.rviz | 281 +++++++++++++++++++++++++++------------ 1 file changed, 196 insertions(+), 85 deletions(-) diff --git a/rviz_cfg/fast_livo2.rviz b/rviz_cfg/fast_livo2.rviz index 9b69e325..f89870f5 100755 --- a/rviz_cfg/fast_livo2.rviz +++ b/rviz_cfg/fast_livo2.rviz @@ -4,6 +4,7 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /Global Options1 - /Status1 - /Axes1 - /mapping1 @@ -16,6 +17,7 @@ Panels: - /Odometry1/Odometry1/Shape1 - /Path1 - /currPoints1/Autocompute Value Bounds1 + - /Marker1 - /MarkerArray1/Namespaces1 - /currPoints2/Autocompute Value Bounds1 - /Odometry2/Shape1 @@ -23,14 +25,13 @@ Panels: - /MarkerArray4 - /MarkerArray5 - /Image1 - Splitter Ratio: 0.34272301197052 - Tree Height: 538 + Splitter Ratio: 0.5394402146339417 + Tree Height: 360 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties Expanded: - /2D Pose Estimate1 - - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 @@ -40,13 +41,10 @@ Panels: Name: Views Splitter Ratio: 0.5 - Class: rviz_common/Time + Experimental: false Name: Time SyncMode: 0 SyncSource: surround -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -68,14 +66,12 @@ Visualization Manager: Plane Cell Count: 160 Reference Frame: Value: false - - Alpha: 1 - Class: rviz_default_plugins/Axes + - Class: rviz_default_plugins/Axes Enabled: true Length: 0.699999988079071 Name: Axes Radius: 0.10000000149011612 - Reference Frame: - Show Trail: false + Reference Frame: camera_init Value: true - Class: rviz_common/Group Displays: @@ -94,16 +90,22 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: currPoints Position Transformer: XYZ - Queue Size: 100000 Selectable: true Size (Pixels): 4 Size (m): 0.009999999776482582 Style: Points - Topic: /cloud_registered - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_registered Use Fixed Frame: true Use rainbow: false Value: true @@ -127,13 +129,17 @@ Visualization Manager: Min Intensity: 5 Name: surround Position Transformer: XYZ - Queue Size: 1 Selectable: false Size (Pixels): 1 Size (m): 0.004999999888241291 Style: Points - Topic: /cloud_registered - Unreliable: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_registered Use Fixed Frame: true Use rainbow: true Value: true @@ -152,16 +158,22 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 5 Size (m): 0.019999999552965164 Style: Squares - Topic: /cloud_effected - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_effected Use Fixed Frame: true Use rainbow: true Value: false @@ -190,7 +202,6 @@ Visualization Manager: Keep: 1 Name: Odometry Position Tolerance: 0.0010000000474974513 - Queue Size: 10 Shape: Alpha: 1 Axes Length: 0.5 @@ -201,8 +212,13 @@ Visualization Manager: Shaft Length: 0.800000011920929 Shaft Radius: 0.5 Value: Axes - Topic: /aft_mapped_to_init - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /aft_mapped_to_init Value: true Enabled: true Name: Odometry @@ -223,12 +239,16 @@ Visualization Manager: Z: 0 Pose Color: 25; 255; 255 Pose Style: None - Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.4000000059604645 Shaft Length: 0.4000000059604645 - Topic: /path - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /path Value: true - Alpha: 0.10000000149011612 Autocompute Intensity Bounds: true @@ -245,34 +265,49 @@ Visualization Manager: Enabled: false Invert Rainbow: true Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: currPoints Position Transformer: XYZ - Queue Size: 1 Selectable: true Size (Pixels): 2 Size (m): 0.009999999776482582 Style: Points - Topic: /cloud_voxel - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_voxel Use Fixed Frame: true Use rainbow: true Value: false - Class: rviz_default_plugins/Marker Enabled: true - Marker Topic: /planner_normal Name: Marker Namespaces: {} - Queue Size: 100 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planner_normal Value: true - Class: rviz_default_plugins/MarkerArray Enabled: false - Marker Topic: /voxels Name: MarkerArray Namespaces: {} - Queue Size: 100 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: visualization_marker_array Value: false - Alpha: 1 Autocompute Intensity Bounds: true @@ -289,26 +324,36 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ - Queue Size: 1 Selectable: true Size (Pixels): 15 Size (m): 0.009999999776482582 Style: Points - Topic: /cloud_ray_sub_map - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_ray_sub_map Use Fixed Frame: true Use rainbow: true Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Marker Topic: /visualization_marker Name: MarkerArray Namespaces: {} - Queue Size: 100 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: visualization_marker_array Value: false - Alpha: 1 Autocompute Intensity Bounds: true @@ -325,16 +370,22 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 10 Size (m): 0.009999999776482582 Style: Points - Topic: /cloud_visual_map - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_visual_map Use Fixed Frame: true Use rainbow: true Value: false @@ -353,16 +404,22 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: surround Position Transformer: XYZ - Queue Size: 1 Selectable: false Size (Pixels): 12 Size (m): 0.05000000074505806 Style: Points - Topic: /cloud_visual_sub_map - Unreliable: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_visual_sub_map Use Fixed Frame: true Use rainbow: true Value: false @@ -381,16 +438,22 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: currPoints Position Transformer: XYZ - Queue Size: 100000 Selectable: true Size (Pixels): 5 Size (m): 0.009999999776482582 Style: Points - Topic: /cloud_sample_points - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_sample_points Use Fixed Frame: true Use rainbow: false Value: false @@ -409,16 +472,22 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 239; 41; 41 + Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 4 Size (m): 0.009999999776482582 Style: Points - Topic: /cloud_visual_map - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_visual_map Use Fixed Frame: true Use rainbow: true Value: false @@ -437,16 +506,22 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 + Max Intensity: 4096 Min Color: 0; 0; 0 + Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 20 Size (m): 0.009999999776482582 Style: Points - Topic: /cloud_ray_sub_map_fov - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_ray_sub_map_fov Use Fixed Frame: true Use rainbow: true Value: false @@ -471,7 +546,6 @@ Visualization Manager: Keep: 1 Name: Odometry Position Tolerance: 0 - Queue Size: 10 Shape: Alpha: 1 Axes Length: 0.699999988079071 @@ -482,49 +556,67 @@ Visualization Manager: Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Axes - Topic: /aft_mapped_to_init - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /aft_mapped_to_init Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Marker Topic: /waypoint_planner/visualize Name: MarkerArray Namespaces: {} - Queue Size: 100 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: visualization_marker_array Value: false - Class: rviz_default_plugins/MarkerArray Enabled: true - Marker Topic: /fsm_node/visualization/exp_traj Name: MarkerArray Namespaces: {} - Queue Size: 100 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: visualization_marker_array Value: true - Class: rviz_default_plugins/MarkerArray Enabled: false - Marker Topic: /fsm_node/visualization/exp_sfcs Name: MarkerArray Namespaces: {} - Queue Size: 100 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: visualization_marker_array Value: false - Class: rviz_default_plugins/Image Enabled: true - Image Topic: /rgb_img Max Value: 1 Median window: 5 Min Value: 0 Name: Image Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rgb_img Value: true Enabled: true Global Options: Background Color: 0; 0; 0 - Default Light: true Fixed Frame: camera_init Frame Rate: 30 Name: root @@ -535,27 +627,45 @@ Visualization Manager: - Class: rviz_default_plugins/Select - Class: rviz_default_plugins/FocusCamera - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose - Class: rviz_default_plugins/SetGoal - Topic: /move_base_simple/goal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal - Class: rviz_default_plugins/PublishPoint Single click: true - Topic: /clicked_point + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: Class: rviz_default_plugins/ThirdPersonFollower - Distance: 25.669620513916016 + Distance: 50.66728210449219 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Field of View: 0.7853981852531433 Focal Point: X: 5.083343982696533 Y: -9.8687162399292 @@ -565,9 +675,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: -0.10520334541797638 + Pitch: 0.3547965884208679 Target Frame: drone - Yaw: 3.161787748336792 + Value: ThirdPersonFollower (rviz_default_plugins) + Yaw: 2.5417795181274414 Saved: - Class: rviz_default_plugins/Orbit Distance: 117.53474426269531 @@ -576,7 +687,6 @@ Visualization Manager: Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Field of View: 0.7853981852531433 Focal Point: X: -35.713138580322266 Y: 36.932613372802734 @@ -588,6 +698,7 @@ Visualization Manager: Near Clip Distance: 0.009999999776482582 Pitch: 0.19539840519428253 Target Frame: + Value: Orbit (rviz_default_plugins) Yaw: 0.17540442943572998 - Class: rviz_default_plugins/Orbit Distance: 109.3125 @@ -596,7 +707,6 @@ Visualization Manager: Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Field of View: 0.7853981852531433 Focal Point: X: -22.092714309692383 Y: 63.322662353515625 @@ -608,6 +718,7 @@ Visualization Manager: Near Clip Distance: 0.009999999776482582 Pitch: 0.035398442298173904 Target Frame: + Value: Orbit (rviz_default_plugins) Yaw: 5.793589115142822 - Class: rviz_default_plugins/Orbit Distance: 85.65605163574219 @@ -616,7 +727,6 @@ Visualization Manager: Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Field of View: 0.7853981852531433 Focal Point: X: 28.252656936645508 Y: -35.49672317504883 @@ -628,6 +738,7 @@ Visualization Manager: Near Clip Distance: 0.009999999776482582 Pitch: 0.5653983950614929 Target Frame: + Value: Orbit (rviz_default_plugins) Yaw: 0.9104044437408447 - Class: rviz_default_plugins/Orbit Distance: 60.1053581237793 @@ -636,7 +747,6 @@ Visualization Manager: Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Field of View: 0.7853981852531433 Focal Point: X: 30.61589241027832 Y: 29.98663330078125 @@ -648,16 +758,17 @@ Visualization Manager: Near Clip Distance: 0.009999999776482582 Pitch: 0.315398633480072 Target Frame: + Value: Orbit (rviz_default_plugins) Yaw: 5.788588047027588 Window Geometry: Displays: collapsed: false - Height: 1376 + Height: 1016 Hide Left Dock: false Hide Right Dock: false Image: collapsed: false - QMainWindow State: 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Selection: collapsed: false Time: @@ -666,6 +777,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 2488 - X: 72 + Width: 1920 + X: 0 Y: 27 From e4c388b23305ce9c7cf6f4c6fa2415b218d74d32 Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Wed, 26 Feb 2025 20:54:46 +0800 Subject: [PATCH 09/21] bug: fix error of param getting of /laserMapping node --- config/avia.yaml | 6 +- include/LIVMapper.h | 4 +- src/LIVMapper.cpp | 228 ++++++++++++++++++++++---------------------- src/voxel_map.cpp | 52 +++++----- 4 files changed, 146 insertions(+), 144 deletions(-) diff --git a/config/avia.yaml b/config/avia.yaml index 9eb6b085..61d39346 100755 --- a/config/avia.yaml +++ b/config/avia.yaml @@ -10,7 +10,9 @@ extrin_calib: extrinsic_T: [0.04165, 0.02326, -0.0284] - extrinsic_R: [1, 0, 0, 0, 1, 0, 0, 0, 1] + extrinsic_R: [1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0] Rcl: [0.00610193,-0.999863,-0.0154172, -0.00615449,0.0153796,-0.999863, 0.999962,0.00619598,-0.0060598] @@ -61,7 +63,7 @@ local_map: map_sliding_en: false half_map_size: 100 - sliding_thresh: 8 + sliding_thresh: 8.0 uav: imu_rate_odom: false diff --git a/include/LIVMapper.h b/include/LIVMapper.h index fc127bd4..eb6170af 100644 --- a/include/LIVMapper.h +++ b/include/LIVMapper.h @@ -115,7 +115,7 @@ class LIVMapper int lidar_en = 1; bool is_first_frame = false; int grid_size, patch_size, grid_n_width, grid_n_height, patch_pyrimid_level; - double outlier_threshold; + int outlier_threshold; double plot_time; int frame_cnt; double img_time_offset = 0.0; @@ -129,7 +129,7 @@ class LIVMapper vector extrinR; vector cameraextrinT; vector cameraextrinR; - double IMG_POINT_COV; + int IMG_POINT_COV; PointCloudXYZI::Ptr visual_sub_map; PointCloudXYZI::Ptr feats_undistort; diff --git a/src/LIVMapper.cpp b/src/LIVMapper.cpp index f3da37e5..053a6dfe 100755 --- a/src/LIVMapper.cpp +++ b/src/LIVMapper.cpp @@ -53,128 +53,128 @@ LIVMapper::~LIVMapper() {} void LIVMapper::readParameters(rclcpp::Node::SharedPtr &node) { // declare parameters - this->node->declare_parameter("common/lid_topic", "/livox/lidar"); - this->node->declare_parameter("common/imu_topic", "/livox/imu"); - this->node->declare_parameter("common/ros_driver_bug_fix", false); - this->node->declare_parameter("common/img_en", 1); - this->node->declare_parameter("common/lidar_en", 1); - this->node->declare_parameter("common/img_topic", "/left_camera/image"); - - this->node->declare_parameter("vio/normal_en", true); - this->node->declare_parameter("vio/inverse_composition_en", false); - this->node->declare_parameter("vio/max_iterations", 5); - this->node->declare_parameter("vio/img_point_cov", 100); - this->node->declare_parameter("vio/raycast_en", false); - this->node->declare_parameter("vio/exposure_estimate_en", true); - this->node->declare_parameter("vio/inv_expo_cov", 0.1); - this->node->declare_parameter("vio/grid_size", 5); - this->node->declare_parameter("vio/grid_n_height", 17); - this->node->declare_parameter("vio/patch_pyrimid_level", 4); - this->node->declare_parameter("vio/patch_size", 8); - this->node->declare_parameter("vio/outlier_threshold", 100); - this->node->declare_parameter("time_offset/exposure_time_init", 0.0); - this->node->declare_parameter("time_offset/img_time_offset", 0.0); - this->node->declare_parameter("uav/imu_rate_odom", false); - this->node->declare_parameter("uav/gravity_align_en", false); - - this->node->declare_parameter("evo/seq_name", "01"); - this->node->declare_parameter("evo/pose_output_en", false); - this->node->declare_parameter("imu/gyr_cov", 1.0); - this->node->declare_parameter("imu/acc_cov", 1.0); - this->node->declare_parameter("imu/imu_int_frame", 30); - this->node->declare_parameter("imu/imu_en", true); - this->node->declare_parameter("imu/gravity_est_en", true); - this->node->declare_parameter("imu/ba_bg_est_en", true); - - this->node->declare_parameter("preprocess/blind", 0.01); - this->node->declare_parameter("preprocess/filter_size_surf", 0.5); - this->node->declare_parameter("preprocess/lidar_type", AVIA); - this->node->declare_parameter("preprocess/scan_line",6); - this->node->declare_parameter("preprocess/point_filter_num", 3); - this->node->declare_parameter("preprocess/feature_extract_enabled", false); - - this->node->declare_parameter("pcd_save/interval", -1); - this->node->declare_parameter("pcd_save/pcd_save_en", false); - this->node->declare_parameter("pcd_save/colmap_output_en", false); - this->node->declare_parameter("pcd_save/filter_size_pcd", 0.5); - this->node->declare_parameter>("extrin_calib/extrinsic_T", vector()); - this->node->declare_parameter>("extrin_calib/extrinsic_R", vector()); - this->node->declare_parameter>("extrin_calib/Pcl", vector()); - this->node->declare_parameter>("extrin_calib/Rcl", vector()); - this->node->declare_parameter("debug/plot_time", -10); - this->node->declare_parameter("debug/frame_cnt", 6); - - this->node->declare_parameter("publish/blind_rgb_points", 0.01); - this->node->declare_parameter("publish/pub_scan_num", 1); - this->node->declare_parameter("publish/pub_effect_point_en", false); - this->node->declare_parameter("publish/dense_map_en", false); + this->node->declare_parameter("common.lid_topic", "/livox/lidar"); + this->node->declare_parameter("common.imu_topic", "/livox/imu"); + this->node->declare_parameter("common.ros_driver_bug_fix", false); + this->node->declare_parameter("common.img_en", 1); + this->node->declare_parameter("common.lidar_en", 1); + this->node->declare_parameter("common.img_topic", "/left_camera/image"); + + this->node->declare_parameter("vio.normal_en", true); + this->node->declare_parameter("vio.inverse_composition_en", false); + this->node->declare_parameter("vio.max_iterations", 5); + this->node->declare_parameter("vio.img_point_cov", 100); + this->node->declare_parameter("vio.raycast_en", false); + this->node->declare_parameter("vio.exposure_estimate_en", true); + this->node->declare_parameter("vio.inv_expo_cov", 0.1); + this->node->declare_parameter("vio.grid_size", 5); + this->node->declare_parameter("vio.grid_n_height", 17); + this->node->declare_parameter("vio.patch_pyrimid_level", 4); + this->node->declare_parameter("vio.patch_size", 8); + this->node->declare_parameter("vio.outlier_threshold", 100); + this->node->declare_parameter("time_offset.exposure_time_init", 0.0); + this->node->declare_parameter("time_offset.img_time_offset", 0.0); + this->node->declare_parameter("uav.imu_rate_odom", false); + this->node->declare_parameter("uav.gravity_align_en", false); + + this->node->declare_parameter("evo.seq_name", "01"); + this->node->declare_parameter("evo.pose_output_en", false); + this->node->declare_parameter("imu.gyr_cov", 1.0); + this->node->declare_parameter("imu.acc_cov", 1.0); + this->node->declare_parameter("imu.imu_int_frame", 30); + this->node->declare_parameter("imu.imu_en", true); + this->node->declare_parameter("imu.gravity_est_en", true); + this->node->declare_parameter("imu.ba_bg_est_en", true); + + this->node->declare_parameter("preprocess.blind", 0.01); + this->node->declare_parameter("preprocess.filter_size_surf", 0.5); + this->node->declare_parameter("preprocess.lidar_type", AVIA); + this->node->declare_parameter("preprocess.scan_line",6); + this->node->declare_parameter("preprocess.point_filter_num", 3); + this->node->declare_parameter("preprocess.feature_extract_enabled", false); + + this->node->declare_parameter("pcd_save.interval", -1); + this->node->declare_parameter("pcd_save.pcd_save_en", false); + this->node->declare_parameter("pcd_save.colmap_output_en", false); + this->node->declare_parameter("pcd_save.filter_size_pcd", 0.5); + this->node->declare_parameter>("extrin_calib.extrinsic_T", vector{}); + this->node->declare_parameter>("extrin_calib.extrinsic_R", vector{}); + this->node->declare_parameter>("extrin_calib.Pcl", vector{}); + this->node->declare_parameter>("extrin_calib.Rcl", vector{}); + this->node->declare_parameter("debug.plot_time", -10); + this->node->declare_parameter("debug.frame_cnt", 6); + + this->node->declare_parameter("publish.blind_rgb_points", 0.01); + this->node->declare_parameter("publish.pub_scan_num", 1); + this->node->declare_parameter("publish.pub_effect_point_en", false); + this->node->declare_parameter("publish.dense_map_en", false); // get parameter - this->node->get_parameter("common/lid_topic", lid_topic); - this->node->get_parameter("common/imu_topic", imu_topic); - this->node->get_parameter("common/ros_driver_bug_fix", ros_driver_fix_en); - this->node->get_parameter("common/img_en", img_en); - this->node->get_parameter("common/lidar_en", lidar_en); - this->node->get_parameter("common/img_topic", img_topic); - - this->node->get_parameter("vio/normal_en", normal_en); - this->node->get_parameter("vio/inverse_composition_en", inverse_composition_en); - this->node->get_parameter("vio/max_iterations", max_iterations); - this->node->get_parameter("vio/img_point_cov", IMG_POINT_COV); - this->node->get_parameter("vio/raycast_en", raycast_en); - this->node->get_parameter("vio/exposure_estimate_en", exposure_estimate_en); - this->node->get_parameter("vio/inv_expo_cov", inv_expo_cov); - this->node->get_parameter("vio/grid_size", grid_size); - this->node->get_parameter("vio/grid_n_height", grid_n_height); - this->node->get_parameter("vio/patch_pyrimid_level", patch_pyrimid_level); - this->node->get_parameter("vio/patch_size", patch_size); - this->node->get_parameter("vio/outlier_threshold", outlier_threshold); - this->node->get_parameter("time_offset/exposure_time_init", exposure_time_init); - this->node->get_parameter("time_offset/img_time_offset", img_time_offset); - this->node->get_parameter("uav/imu_rate_odom", imu_prop_enable); - this->node->get_parameter("uav/gravity_align_en", gravity_align_en); - - this->node->get_parameter("evo/seq_name", seq_name); - this->node->get_parameter("evo/pose_output_en", pose_output_en); - this->node->get_parameter("imu/gyr_cov", gyr_cov); - this->node->get_parameter("imu/acc_cov", acc_cov); - this->node->get_parameter("imu/imu_int_frame", imu_int_frame); - this->node->get_parameter("imu/imu_en", imu_en); - this->node->get_parameter("imu/gravity_est_en", gravity_est_en); - this->node->get_parameter("imu/ba_bg_est_en", ba_bg_est_en); - - this->node->get_parameter("preprocess/blind", p_pre->blind); - this->node->get_parameter("preprocess/filter_size_surf", filter_size_surf_min); - this->node->get_parameter("preprocess/lidar_type", p_pre->lidar_type); - this->node->get_parameter("preprocess/scan_line", p_pre->N_SCANS); - this->node->get_parameter("preprocess/point_filter_num", p_pre->point_filter_num); - this->node->get_parameter("preprocess/feature_extract_enabled", p_pre->feature_enabled); - - this->node->get_parameter("pcd_save/interval", pcd_save_interval); - this->node->get_parameter("pcd_save/pcd_save_en", pcd_save_en); - this->node->get_parameter("pcd_save/colmap_output_en", colmap_output_en); - this->node->get_parameter("pcd_save/filter_size_pcd", filter_size_pcd); - this->node->get_parameter("extrin_calib/extrinsic_T", extrinT); - this->node->get_parameter("extrin_calib/extrinsic_R", extrinR); - this->node->get_parameter("extrin_calib/Pcl", cameraextrinT); - this->node->get_parameter("extrin_calib/Rcl", cameraextrinR); - this->node->get_parameter("debug/plot_time", plot_time); - this->node->get_parameter("debug/frame_cnt", frame_cnt); - - this->node->get_parameter("publish/blind_rgb_points", blind_rgb_points); - this->node->get_parameter("publish/pub_scan_num", pub_scan_num); - this->node->get_parameter("publish/pub_effect_point_en", pub_effect_point_en); - this->node->get_parameter("publish/dense_map_en", dense_map_en); + this->node->get_parameter("common.lid_topic", lid_topic); + this->node->get_parameter("common.imu_topic", imu_topic); + this->node->get_parameter("common.ros_driver_bug_fix", ros_driver_fix_en); + this->node->get_parameter("common.img_en", img_en); + this->node->get_parameter("common.lidar_en", lidar_en); + this->node->get_parameter("common.img_topic", img_topic); + + this->node->get_parameter("vio.normal_en", normal_en); + this->node->get_parameter("vio.inverse_composition_en", inverse_composition_en); + this->node->get_parameter("vio.max_iterations", max_iterations); + this->node->get_parameter("vio.img_point_cov", IMG_POINT_COV); + this->node->get_parameter("vio.raycast_en", raycast_en); + this->node->get_parameter("vio.exposure_estimate_en", exposure_estimate_en); + this->node->get_parameter("vio.inv_expo_cov", inv_expo_cov); + this->node->get_parameter("vio.grid_size", grid_size); + this->node->get_parameter("vio.grid_n_height", grid_n_height); + this->node->get_parameter("vio.patch_pyrimid_level", patch_pyrimid_level); + this->node->get_parameter("vio.patch_size", patch_size); + this->node->get_parameter("vio.outlier_threshold", outlier_threshold); + this->node->get_parameter("time_offset.exposure_time_init", exposure_time_init); + this->node->get_parameter("time_offset.img_time_offset", img_time_offset); + this->node->get_parameter("uav.imu_rate_odom", imu_prop_enable); + this->node->get_parameter("uav.gravity_align_en", gravity_align_en); + + this->node->get_parameter("evo.seq_name", seq_name); + this->node->get_parameter("evo.pose_output_en", pose_output_en); + this->node->get_parameter("imu.gyr_cov", gyr_cov); + this->node->get_parameter("imu.acc_cov", acc_cov); + this->node->get_parameter("imu.imu_int_frame", imu_int_frame); + this->node->get_parameter("imu.imu_en", imu_en); + this->node->get_parameter("imu.gravity_est_en", gravity_est_en); + this->node->get_parameter("imu.ba_bg_est_en", ba_bg_est_en); + + this->node->get_parameter("preprocess.blind", p_pre->blind); + this->node->get_parameter("preprocess.filter_size_surf", filter_size_surf_min); + this->node->get_parameter("preprocess.lidar_type", p_pre->lidar_type); + this->node->get_parameter("preprocess.scan_line", p_pre->N_SCANS); + this->node->get_parameter("preprocess.point_filter_num", p_pre->point_filter_num); + this->node->get_parameter("preprocess.feature_extract_enabled", p_pre->feature_enabled); + + this->node->get_parameter("pcd_save.interval", pcd_save_interval); + this->node->get_parameter("pcd_save.pcd_save_en", pcd_save_en); + this->node->get_parameter("pcd_save.colmap_output_en", colmap_output_en); + this->node->get_parameter("pcd_save.filter_size_pcd", filter_size_pcd); + this->node->get_parameter("extrin_calib.extrinsic_T", extrinT); + this->node->get_parameter("extrin_calib.extrinsic_R", extrinR); + this->node->get_parameter("extrin_calib.Pcl", cameraextrinT); + this->node->get_parameter("extrin_calib.Rcl", cameraextrinR); + this->node->get_parameter("debug.plot_time", plot_time); + this->node->get_parameter("debug.frame_cnt", frame_cnt); + + this->node->get_parameter("publish.blind_rgb_points", blind_rgb_points); + this->node->get_parameter("publish.pub_scan_num", pub_scan_num); + this->node->get_parameter("publish.pub_effect_point_en", pub_effect_point_en); + this->node->get_parameter("publish.dense_map_en", dense_map_en); } void LIVMapper::initializeComponents(rclcpp::Node::SharedPtr &node) { downSizeFilterSurf.setLeafSize(filter_size_surf_min, filter_size_surf_min, filter_size_surf_min); - extrinT.assign({0.04165, 0.02326, -0.0284}); - extrinR.assign({1, 0, 0, 0, 1, 0, 0, 0, 1}); - cameraextrinT.assign({0.0194384, 0.104689,-0.0251952}); - cameraextrinR.assign({0.00610193,-0.999863,-0.0154172,-0.00615449,0.0153796,-0.999863,0.999962,0.00619598,-0.0060598}); + // extrinT.assign({0.04165, 0.02326, -0.0284}); + // extrinR.assign({1, 0, 0, 0, 1, 0, 0, 0, 1}); + // cameraextrinT.assign({0.0194384, 0.104689,-0.0251952}); + // cameraextrinR.assign({0.00610193,-0.999863,-0.0154172,-0.00615449,0.0153796,-0.999863,0.999962,0.00619598,-0.0060598}); extT << VEC_FROM_ARRAY(extrinT); extR << MAT_FROM_ARRAY(extrinR); diff --git a/src/voxel_map.cpp b/src/voxel_map.cpp index 76c3c893..731222cd 100644 --- a/src/voxel_map.cpp +++ b/src/voxel_map.cpp @@ -36,36 +36,36 @@ void calcBodyCov(Eigen::Vector3d &pb, const float range_inc, const float degree_ void loadVoxelConfig(rclcpp::Node::SharedPtr &node, VoxelMapConfig &voxel_config) { // declare parameter - node->declare_parameter("publish/pub_plane_en", false); - node->declare_parameter("lio/max_layer", 1); - node->declare_parameter("lio/voxel_size", 0.5); - node->declare_parameter("lio/min_eigen_value", 0.01); - node->declare_parameter("lio/sigma_num", 3); - node->declare_parameter("lio/beam_err", 0.02); - node->declare_parameter("lio/dept_err", 0.05); + node->declare_parameter("publish.pub_plane_en", false); + node->declare_parameter("lio.max_layer", 1); + node->declare_parameter("lio.voxel_size", 0.5); + node->declare_parameter("lio.min_eigen_value", 0.01); + node->declare_parameter("lio.sigma_num", 3); + node->declare_parameter("lio.beam_err", 0.02); + node->declare_parameter("lio.dept_err", 0.05); // Declaration of parameter of type std::vector won't build, https://github.com/ros2/rclcpp/issues/1585 - node->declare_parameter>("lio/layer_init_num", std::vector{5,5,5,5,5}); - node->declare_parameter("lio/max_points_num", 50); - node->declare_parameter("lio/min_iterations", 5); - node->declare_parameter("local_map/map_sliding_en", false); - node->declare_parameter("local_map/half_map_size", 100); - node->declare_parameter("local_map/sliding_thresh", 8); + node->declare_parameter>("lio.layer_init_num", std::vector{5,5,5,5,5}); + node->declare_parameter("lio.max_points_num", 50); + node->declare_parameter("lio.min_iterations", 5); + node->declare_parameter("local_map.map_sliding_en", false); + node->declare_parameter("local_map.half_map_size", 100); + node->declare_parameter("local_map.sliding_thresh", 8.0); // get parameter - node->get_parameter("publish/pub_plane_en", voxel_config.is_pub_plane_map_); - node->get_parameter("lio/max_layer", voxel_config.max_layer_); - node->get_parameter("lio/voxel_size", voxel_config.max_voxel_size_); - node->get_parameter("lio/min_eigen_value", voxel_config.planner_threshold_); - node->get_parameter("lio/sigma_num", voxel_config.sigma_num_); - node->get_parameter("lio/beam_err", voxel_config.beam_err_); - node->get_parameter("lio/dept_err", voxel_config.dept_err_); - node->get_parameter("lio/layer_init_num", voxel_config.layer_init_num_); - node->get_parameter("lio/max_points_num", voxel_config.max_points_num_); - node->get_parameter("lio/min_iterations", voxel_config.max_iterations_); - node->get_parameter("local_map/map_sliding_en", voxel_config.map_sliding_en); - node->get_parameter("local_map/half_map_size", voxel_config.half_map_size); - node->get_parameter("local_map/sliding_thresh", voxel_config.sliding_thresh); + node->get_parameter("publish.pub_plane_en", voxel_config.is_pub_plane_map_); + node->get_parameter("lio.max_layer", voxel_config.max_layer_); + node->get_parameter("lio.voxel_size", voxel_config.max_voxel_size_); + node->get_parameter("lio.min_eigen_value", voxel_config.planner_threshold_); + node->get_parameter("lio.sigma_num", voxel_config.sigma_num_); + node->get_parameter("lio.beam_err", voxel_config.beam_err_); + node->get_parameter("lio.dept_err", voxel_config.dept_err_); + node->get_parameter("lio.layer_init_num", voxel_config.layer_init_num_); + node->get_parameter("lio.max_points_num", voxel_config.max_points_num_); + node->get_parameter("lio.min_iterations", voxel_config.max_iterations_); + node->get_parameter("local_map.map_sliding_en", voxel_config.map_sliding_en); + node->get_parameter("local_map.half_map_size", voxel_config.half_map_size); + node->get_parameter("local_map.sliding_thresh", voxel_config.sliding_thresh); } void VoxelOctoTree::init_plane(const std::vector &points, VoxelPlane *plane) From 81cb62828b6ae8607ce1eeb883e213f748c6c87e Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Wed, 26 Feb 2025 21:17:21 +0800 Subject: [PATCH 10/21] bug: fix error of param getting of in ROS2 --- launch/mapping_aviz.launch.py | 20 ++++++++++---------- src/LIVMapper.cpp | 2 +- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/launch/mapping_aviz.launch.py b/launch/mapping_aviz.launch.py index d9488b03..98716d20 100644 --- a/launch/mapping_aviz.launch.py +++ b/launch/mapping_aviz.launch.py @@ -61,16 +61,16 @@ def generate_launch_description(): # ), # use parameter_blackboard as global parameters server and load camera params - # Node( - # package='demo_nodes_cpp', - # executable='parameter_blackboard', - # name='parameter_blackboard', - # # namespace='laserMapping', - # parameters=[ - # camera_params_file - # ], - # output='screen' - # ), + Node( + package='demo_nodes_cpp', + executable='parameter_blackboard', + name='parameter_blackboard', + # namespace='laserMapping', + parameters=[ + camera_params_file, + ], + output='screen' + ), # republish compressed image to raw image # https://robotics.stackexchange.com/questions/110939/how-do-i-remap-compressed-video-to-raw-video-in-ros2 diff --git a/src/LIVMapper.cpp b/src/LIVMapper.cpp index 053a6dfe..0968df84 100755 --- a/src/LIVMapper.cpp +++ b/src/LIVMapper.cpp @@ -182,7 +182,7 @@ void LIVMapper::initializeComponents(rclcpp::Node::SharedPtr &node) voxelmap_manager->extT_ << VEC_FROM_ARRAY(extrinT); voxelmap_manager->extR_ << MAT_FROM_ARRAY(extrinR); - if (!vk::camera_loader::loadFromRosNs(this->node, "laserMapping", vio_manager->cam)) throw std::runtime_error("Camera model not correctly specified."); + if (!vk::camera_loader::loadFromRosNs(this->node, "parameter_blackboard", vio_manager->cam)) throw std::runtime_error("Camera model not correctly specified."); vio_manager->grid_size = grid_size; vio_manager->patch_size = patch_size; From b5be58727cc6dccd7607c9a442f9e6e29f68f8ac Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Fri, 28 Feb 2025 20:57:36 +0800 Subject: [PATCH 11/21] feat: add .log of valgrind in launch.py --- launch/mapping_aviz.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/mapping_aviz.launch.py b/launch/mapping_aviz.launch.py index 98716d20..a9b17a59 100644 --- a/launch/mapping_aviz.launch.py +++ b/launch/mapping_aviz.launch.py @@ -100,8 +100,8 @@ def generate_launch_description(): ], # https://docs.ros.org/en/humble/How-To-Guides/Getting-Backtraces-in-ROS-2.html prefix=[ - # ("gdb -ex run --args"), - # ("valgrind --tool=memcheck --leak-check=full --show-reachable=yes --undef-value-errors=yes --track-fds=yes") + # ("gdb -ex run --args"), + # ("valgrind --log-file=./valgrind_report.log --tool=memcheck --leak-check=full --show-leak-kinds=all -s --track-origins=yes --show-reachable=yes --undef-value-errors=yes --track-fds=yes") ], output="screen" ), From 8508f53c09816db594200c82131d7dd579bf11ac Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Sat, 1 Mar 2025 21:24:48 +0800 Subject: [PATCH 12/21] docs: update README.md --- README.md | 93 +++++++++++++++++++++++++++++++++++++++++++++++-------- 1 file changed, 80 insertions(+), 13 deletions(-) diff --git a/README.md b/README.md index eac5d4e6..82c945f0 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,9 @@ -# FAST-LIVO2 +# FAST-LIVO2 ROS2 HUMBLE ## FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry +Thanks to hku mars lab chunran zheng for the open source excellent work + ### 📢 News - 🔓 **2025-01-23**: Code released! @@ -41,7 +43,7 @@ Our associate dataset [**FAST-LIVO2-Dataset**](https://connecthkuhk-my.sharepoin ### 2.1 Ubuntu and ROS -Ubuntu 16.04~20.04. [ROS Installation](http://wiki.ros.org/ROS/Installation). +Ubuntu 22.04. [ROS Installation](http://wiki.ros.org/ROS/Installation). ### 2.2 PCL && Eigen && OpenCV @@ -64,41 +66,106 @@ make sudo make install ``` +if build fails due to `so2.cpp:32:26: error: lvalue required as left operand of assignment`, modify the code as follows: + +**so2.cpp** +```diff +namespace Sophus +{ + +SO2::SO2() +{ +- unit_complex_.real() = 1.; +- unit_complex_.imag() = 0.; ++ unit_complex_.real(1.); ++ unit_complex_.imag(0.); +} +``` + ### 2.4 Vikit Vikit contains camera models, some math and interpolation functions that we need. Vikit is a catkin project, therefore, download it into your catkin workspace source folder. +For well-known reasons, ROS2 does not have a direct global parameter server and a simple method to obtain the corresponding parameters. For details, please refer to https://discourse.ros.org/t/ros2-global-parameter-server-status/10114/11. I use a special way to get camera parameters in Vikit. While the method I've provided so far is quite simple and not perfect, it meets my needs. More contributions to improve `rpg_vikit` are hoped. + ```bash # Different from the one used in fast-livo1 -cd catkin_ws/src -git clone https://github.com/xuankuzcr/rpg_vikit.git +cd fast_ws/src +git clone https://github.com/Robotic-Developer-Road/rpg_vikit.git ``` -### 2.5 **livox_ros_driver** +Thanks to the following repositories for the code reference: + +- [uzh-rpg/rpg_vikit](https://github.com/uzh-rpg/rpg_vikit) +- [xuankuzcr/rpg_vikit](https://github.com/xuankuzcr/rpg_vikit) +- [uavfly/vikit](https://github.com/uavfly/vikit) -Follow [livox_ros_driver Installation](https://github.com/Livox-SDK/livox_ros_driver). +### 2.5 **livox_ros_driver2** + +Follow [livox_ros_driver2 Installation](https://github.com/Livox-SDK/livox_ros_driver2). + +why not use `livox_ros_driver`? Because it is not compatible with ROS2 directly. actually i am not think there s any difference between [livox ros driver](https://github.com/Livox-SDK/livox_ros_driver.git) and [livox ros driver2](https://github.com/Livox-SDK/livox_ros_driver2.git) 's `CustomMsg`, the latter 's ros2 version is sufficient. ## 3. Build -Clone the repository and catkin_make: +Clone the repository and colcon build: ``` -cd ~/catkin_ws/src -git clone https://github.com/hku-mars/FAST-LIVO2 +cd ~/fast_ws/src +git clone https://github.com/Robotic-Developer-Road/FAST-LIVO2.git cd ../ -catkin_make -source ~/catkin_ws/devel/setup.bash +colcon build --symlink-install --continue-on-error +source ~/fast_ws/install/setup.bash ``` ## 4. Run our examples Download our collected rosbag files via OneDrive ([**FAST-LIVO2-Dataset**](https://connecthkuhk-my.sharepoint.com/:f:/g/personal/zhengcr_connect_hku_hk/ErdFNQtjMxZOorYKDTtK4ugBkogXfq1OfDm90GECouuIQA?e=KngY9Z)). +### convert rosbag + +convert ROS1 rosbag to ROS2 rosbag +```bash +rosbags-convert --src Retail_Street.bag --dst Retail_Street ``` -roslaunch fast_livo mapping_avia.launch -rosbag play YOUR_DOWNLOADED.bag +- [gitlab rosbags](https://gitlab.com/ternaris/rosbags) +- [pypi rosbags](https://pypi.org/project/rosbags/) + +### change the msg type on rosbag + +Such as dataset `Retail_Street.db3`, because we use `livox_ros2_driver2`'s `CustomMsg`, we need to change the msg type in the rosbag file. We use `rosbag2 modify` to change the msg type. + +**metadata.yaml** +```diff +rosbag2_bagfile_information: + compression_format: '' + compression_mode: '' + custom_data: {} + duration: + nanoseconds: 135470252209 + files: + - duration: + nanoseconds: 135470252209 + message_count: 30157 + path: Retail_Street.db3 + .............. + topic_metadata: + name: /livox/lidar + offered_qos_profiles: '' + serialization_format: cdr +- type: livox_ros_driver/msg/CustomMsg ++ type: livox_ros_driver2/msg/CustomMsg + type_description_hash: RIHS01_94041b4794f52c1d81def2989107fc898a62dacb7a39d5dbe80d4b55e538bf6d + ............... +..... ``` +Do not forget to source your ROS2 workspace before running the following command. + +```bash +ros2 launch fast_livo mapping_aviz.launch.py use_rviz:=True +ros2 bag play -p Retail_Street # space bar controls play/pause +``` ## 5. License From 19febb9048e2a3945ee1c14b78ed84cf8150464f Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Sat, 1 Mar 2025 21:50:29 +0800 Subject: [PATCH 13/21] upstream: add support for MARS-LVIG dataset --- config/MARS_LVIG.yaml | 204 +++++++++++++------------ config/camera_MARS_LVIG.yaml | 52 ++++--- launch/mapping_avia_marslvig.launch | 20 --- launch/mapping_avia_marslvig.launch.py | 111 ++++++++++++++ rviz_cfg/M300.rviz | 84 +++++----- 5 files changed, 283 insertions(+), 188 deletions(-) delete mode 100755 launch/mapping_avia_marslvig.launch create mode 100755 launch/mapping_avia_marslvig.launch.py diff --git a/config/MARS_LVIG.yaml b/config/MARS_LVIG.yaml index 34b84fc7..5c7c9e1e 100644 --- a/config/MARS_LVIG.yaml +++ b/config/MARS_LVIG.yaml @@ -1,111 +1,113 @@ -common: - img_topic: "/left_camera/image" - lid_topic: "/livox/lidar" - imu_topic: "/livox/imu" - img_en: 1 - lidar_en: 1 - ros_driver_bug_fix: false +/**: + ros__parameters: + common: + img_topic: "/left_camera/image" + lid_topic: "/livox/lidar" + imu_topic: "/livox/imu" + img_en: 1 + lidar_en: 1 + ros_driver_bug_fix: false -extrin_calib: - extrinsic_T: [0.04165, 0.02326, -0.0284] - extrinsic_R: [1, 0, 0, 0, 1, 0, 0, 0, 1] - # MARS_LVIG HKisland HKairport - Rcl: [0.00438814,-0.999807,-0.0191582, - -0.00978695,0.0191145,-0.999769, - 0.999942,0.00457463,-0.00970118] - Pcl: [0.016069, 0.0871753, -0.0718021] - # MARS_LVIG AMtown AMvalley - # Rcl: [ -0.0022464, -0.9997299, -0.0231319, - # -0.0084211, 0.0231501, -0.9996966, - # 0.9999620, -0.0020509, -0.0084708] - # Pcl: [-0.0025563, 0.0567484, -0.0512149] + extrin_calib: + extrinsic_T: [0.04165, 0.02326, -0.0284] + extrinsic_R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] + # MARS_LVIG HKisland HKairport + Rcl: [0.00438814,-0.999807,-0.0191582, + -0.00978695,0.0191145,-0.999769, + 0.999942,0.00457463,-0.00970118] + Pcl: [0.016069, 0.0871753, -0.0718021] + # MARS_LVIG AMtown AMvalley + # Rcl: [ -0.0022464, -0.9997299, -0.0231319, + # -0.0084211, 0.0231501, -0.9996966, + # 0.9999620, -0.0020509, -0.0084708] + # Pcl: [-0.0025563, 0.0567484, -0.0512149] -time_offset: - imu_time_offset: 0.0 - img_time_offset: -0.1 - exposure_time_init: 0.0 -# ╔═══════════════════════════════════════════════════════════════════════════════════════╗ -# ║ Configuration Settings ║ -# ╠═══════════════════════════════════════════════════════════════════════════════════════╣ -# ║ Series │ ID │ img_time_offset │ exposure_time_init │ -s (start hover) ║ -# ╠═══════════════════════════════════════════════════════════════════════════════════════╣ -# ║ HKairport │ HKairport01 │ 0.1 │ 0.0 │ 75 ║ -# ║ │ HKairport02 │ -0.1 │ 0.0 │ 60 ║ -# ║ │ HKairport03 │ -0.1 │ 0.0 │ 62 ║ -# ╠═══════════════════════════════════════════════════════════════════════════════════════╣ -# ║ HKisland │ HKisland01 │ 0.0 │ 0.0 │ 118 ║ -# ║ │ HKisland02 │ 0.1 │ 0.0 │ 80 ║ -# ║ │ HKisland03 │ -0.1 │ 0.0 │ 72 ║ -# ╠═══════════════════════════════════════════════════════════════════════════════════════╣ -# ║ AMtown │ AMtown01 │ -0.1 │ 0.0285 │ 75 ║ -# ║ │ AMtown02 │ -0.1 │ 0.0285 │ 50 ║ -# ║ │ AMtown03 │ -0.1 │ 0.0285 │ 106 ║ -# ╠═══════════════════════════════════════════════════════════════════════════════════════╣ -# ║ AMvalley │ AMvalley01 │ -0.1 │ 0.0132 │ 70 ║ -# ║ │ AMvalley02 │ -0.1 │ 0.0132 │ 65 ║ -# ║ │ AMvalley03 │ -0.1 │ 0.0132 │ 68 ║ -# ╚═══════════════════════════════════════════════════════════════════════════════════════╝ -preprocess: - point_filter_num: 1 - filter_size_surf: 0.1 - lidar_type: 1 # Livox Avia LiDAR - scan_line: 6 - blind: 0.8 + time_offset: + imu_time_offset: 0.0 + img_time_offset: -0.1 + exposure_time_init: 0.0 + # ╔═══════════════════════════════════════════════════════════════════════════════════════╗ + # ║ Configuration Settings ║ + # ╠═══════════════════════════════════════════════════════════════════════════════════════╣ + # ║ Series │ ID │ img_time_offset │ exposure_time_init │ -s (start hover) ║ + # ╠═══════════════════════════════════════════════════════════════════════════════════════╣ + # ║ HKairport │ HKairport01 │ 0.1 │ 0.0 │ 75 ║ + # ║ │ HKairport02 │ -0.1 │ 0.0 │ 60 ║ + # ║ │ HKairport03 │ -0.1 │ 0.0 │ 62 ║ + # ╠═══════════════════════════════════════════════════════════════════════════════════════╣ + # ║ HKisland │ HKisland01 │ 0.0 │ 0.0 │ 118 ║ + # ║ │ HKisland02 │ 0.1 │ 0.0 │ 80 ║ + # ║ │ HKisland03 │ -0.1 │ 0.0 │ 72 ║ + # ╠═══════════════════════════════════════════════════════════════════════════════════════╣ + # ║ AMtown │ AMtown01 │ -0.1 │ 0.0285 │ 75 ║ + # ║ │ AMtown02 │ -0.1 │ 0.0285 │ 50 ║ + # ║ │ AMtown03 │ -0.1 │ 0.0285 │ 106 ║ + # ╠═══════════════════════════════════════════════════════════════════════════════════════╣ + # ║ AMvalley │ AMvalley01 │ -0.1 │ 0.0132 │ 70 ║ + # ║ │ AMvalley02 │ -0.1 │ 0.0132 │ 65 ║ + # ║ │ AMvalley03 │ -0.1 │ 0.0132 │ 68 ║ + # ╚═══════════════════════════════════════════════════════════════════════════════════════╝ + preprocess: + point_filter_num: 1 + filter_size_surf: 0.1 + lidar_type: 1 # Livox Avia LiDAR + scan_line: 6 + blind: 0.8 -vio: - max_iterations: 5 - outlier_threshold: 1000 # 78 100 156 #100 200 500 700 infinite - img_point_cov: 1000 # 100 1000 - patch_size: 8 - patch_pyrimid_level: 4 - normal_en: true - raycast_en: false - inverse_composition_en: false - exposure_estimate_en: true - inv_expo_cov: 0.1 + vio: + max_iterations: 5 + outlier_threshold: 1000 # 78 100 156 #100 200 500 700 infinite + img_point_cov: 1000 # 100 1000 + patch_size: 8 + patch_pyrimid_level: 4 + normal_en: true + raycast_en: false + inverse_composition_en: false + exposure_estimate_en: true + inv_expo_cov: 0.1 -imu: - imu_en: true - imu_int_frame: 30 - acc_cov: 2.0 # 0.5 - gyr_cov: 0.1 # 0.3 - b_acc_cov: 0.0001 # 0.1 - b_gyr_cov: 0.0001 # 0.1 + imu: + imu_en: true + imu_int_frame: 30 + acc_cov: 2.0 # 0.5 + gyr_cov: 0.1 # 0.3 + b_acc_cov: 0.0001 # 0.1 + b_gyr_cov: 0.0001 # 0.1 -lio: - max_iterations: 5 - dept_err: 0.02 - beam_err: 0.05 - min_eigen_value: 0.005 - voxel_size: 2.0 # 1.0 - max_layer: 2 - max_points_num: 50 - layer_init_num: [5, 5, 5, 5, 5] + lio: + max_iterations: 5 + dept_err: 0.02 + beam_err: 0.05 + min_eigen_value: 0.005 + voxel_size: 2.0 # 1.0 + max_layer: 2 + max_points_num: 50 + layer_init_num: [5, 5, 5, 5, 5] -local_map: - map_sliding_en: false - half_map_size: 100 - sliding_thresh: 8 + local_map: + map_sliding_en: false + half_map_size: 100 + sliding_thresh: 8.0 -uav: - imu_rate_odom: false - gravity_align_en: false + uav: + imu_rate_odom: false + gravity_align_en: false -publish: - dense_map_en: true - pub_effect_point_en: false - pub_plane_en: false - pub_scan_num: 1 - blind_rgb_points: 0.0 + publish: + dense_map_en: true + pub_effect_point_en: false + pub_plane_en: false + pub_scan_num: 1 + blind_rgb_points: 0.0 -evo: - seq_name: "HKisland03" - pose_output_en: false + evo: + seq_name: "HKisland03" + pose_output_en: false -pcd_save: - pcd_save_en: false - colmap_output_en: false # need to set interval = -1 - filter_size_pcd: 0.15 - interval: -1 - # how many LiDAR frames saved in each pcd file; - # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file + pcd_save: + pcd_save_en: false + colmap_output_en: false # need to set interval = -1 + filter_size_pcd: 0.15 + interval: -1 + # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. \ No newline at end of file diff --git a/config/camera_MARS_LVIG.yaml b/config/camera_MARS_LVIG.yaml index 698d6484..4b4e09fc 100644 --- a/config/camera_MARS_LVIG.yaml +++ b/config/camera_MARS_LVIG.yaml @@ -1,26 +1,28 @@ -cam_model: Pinhole -# HKisland HKairport -cam_width: 2448 -cam_height: 2048 -scale: 0.25 -cam_fx: 1444.431662789634 -cam_fy: 1444.343536688358 -cam_cx: 1177.801079401826 -cam_cy: 1043.601026568268 -cam_d0: -0.05729528706141188 -cam_d1: 0.1210407244166642 -cam_d2: 0.001274128378760289 -cam_d3: 0.0004389741530109464 +/**: + ros__parameters: + cam_model: Pinhole + # HKisland HKairport + cam_width: 2448 + cam_height: 2048 + scale: 0.25 + cam_fx: 1444.431662789634 + cam_fy: 1444.343536688358 + cam_cx: 1177.801079401826 + cam_cy: 1043.601026568268 + cam_d0: -0.05729528706141188 + cam_d1: 0.1210407244166642 + cam_d2: 0.001274128378760289 + cam_d3: 0.0004389741530109464 -# AMtown AMvalley -# cam_width: 2448 -# cam_height: 2048 -# scale: 0.25 -# cam_fx: 1453.88 -# cam_fy: 1452.85 -# cam_cx: 1182.53 -# cam_cy: 1045.82 -# cam_d0: -0.052 -# cam_d1: 0.1168 -# cam_d2: 0.0015 -# cam_d3: 0.00013 \ No newline at end of file + # AMtown AMvalley + # cam_width: 2448 + # cam_height: 2048 + # scale: 0.25 + # cam_fx: 1453.88 + # cam_fy: 1452.85 + # cam_cx: 1182.53 + # cam_cy: 1045.82 + # cam_d0: -0.052 + # cam_d1: 0.1168 + # cam_d2: 0.0015 + # cam_d3: 0.00013 \ No newline at end of file diff --git a/launch/mapping_avia_marslvig.launch b/launch/mapping_avia_marslvig.launch deleted file mode 100755 index 2fa90d3d..00000000 --- a/launch/mapping_avia_marslvig.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - -launch-prefix="gdb -ex run --args" -launch-prefix="valgrind --leak-check=full" - diff --git a/launch/mapping_avia_marslvig.launch.py b/launch/mapping_avia_marslvig.launch.py new file mode 100755 index 00000000..7e787500 --- /dev/null +++ b/launch/mapping_avia_marslvig.launch.py @@ -0,0 +1,111 @@ +#!/usr/bin/python3 +# -- coding: utf-8 --** + +import os +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, ExecuteProcess +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from ament_index_python.packages import get_package_share_directory +from launch_ros.actions import Node + +def generate_launch_description(): + + # Find path + config_file_dir = os.path.join(get_package_share_directory("fast_livo"), "config") + rviz_config_file = os.path.join(get_package_share_directory("fast_livo"), "rviz_cfg", "M300.rviz") + + #Load parameters + avia_config_cmd = os.path.join(config_file_dir, "MARS_LVIG.yaml") + camera_config_cmd = os.path.join(config_file_dir, "camera_MARS_LVIG.yaml") + + # Param use_rviz + use_rviz_arg = DeclareLaunchArgument( + "use_rviz", + default_value="False", + description="Whether to launch Rviz2", + ) + + avia_config_arg = DeclareLaunchArgument( + 'avia_params_file', + default_value=avia_config_cmd, + description='Full path to the ROS2 parameters file to use for fast_livo2 nodes', + ) + + camera_config_arg = DeclareLaunchArgument( + 'camera_params_file', + default_value=camera_config_cmd, + description='Full path to the ROS2 parameters file to use for vikit_ros nodes', + ) + + # https://github.com/ros-navigation/navigation2/blob/1c68c212db01f9f75fcb8263a0fbb5dfa711bdea/nav2_bringup/launch/navigation_launch.py#L40 + use_respawn_arg = DeclareLaunchArgument( + 'use_respawn', + default_value='True', + description='Whether to respawn if a node crashes. Applied when composition is disabled.') + + avia_params_file = LaunchConfiguration('avia_params_file') + camera_params_file = LaunchConfiguration('camera_params_file') + use_respawn = LaunchConfiguration('use_respawn') + + return LaunchDescription([ + use_rviz_arg, + avia_config_arg, + camera_config_arg, + use_respawn_arg, + + # use parameter_blackboard as global parameters server and load camera params + Node( + package='demo_nodes_cpp', + executable='parameter_blackboard', + name='parameter_blackboard', + # namespace='laserMapping', + parameters=[ + camera_params_file, + ], + output='screen' + ), + + # republish compressed image to raw image + # https://robotics.stackexchange.com/questions/110939/how-do-i-remap-compressed-video-to-raw-video-in-ros2 + # ros2 run image_transport republish compressed raw --ros-args --remap in:=/left_camera/image --remap out:=/left_camera/image + Node( + package="image_transport", + executable="republish", + name="republish", + arguments=[ # Array of strings/parametric arguments that will end up in process's argv + 'compressed', + 'raw', + ], + remappings=[ + ("in", "/left_camera/image"), + ("out", "/left_camera/image") + ], + output="screen", + respawn=use_respawn, + ), + + Node( + package="fast_livo", + executable="fastlivo_mapping", + name="laserMapping", + parameters=[ + avia_params_file, + ], + # https://docs.ros.org/en/humble/How-To-Guides/Getting-Backtraces-in-ROS-2.html + prefix=[ + # ("gdb -ex run --args"), + # ("valgrind --log-file=./valgrind_report.log --tool=memcheck --leak-check=full --show-leak-kinds=all -s --track-origins=yes --show-reachable=yes --undef-value-errors=yes --track-fds=yes") + ], + output="screen" + ), + + Node( + condition=IfCondition(LaunchConfiguration("use_rviz")), + package="rviz2", + executable="rviz2", + name="rviz2", + arguments=["-d", rviz_config_file], + output="screen" + ), + ]) diff --git a/rviz_cfg/M300.rviz b/rviz_cfg/M300.rviz index a5049637..84a33a66 100755 --- a/rviz_cfg/M300.rviz +++ b/rviz_cfg/M300.rviz @@ -1,5 +1,5 @@ Panels: - - Class: rviz/Displays + - Class: rviz_common/Displays Help Height: 0 Name: Displays Property Tree Widget: @@ -25,21 +25,21 @@ Panels: - /Image1 Splitter Ratio: 0.34272301197052 Tree Height: 538 - - Class: rviz/Selection + - Class: rviz_common/Selection Name: Selection - - Class: rviz/Tool Properties + - Class: rviz_common/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views + - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time + - Class: rviz_common/Time Name: Time SyncMode: 0 SyncSource: surround @@ -52,7 +52,7 @@ Visualization Manager: Displays: - Alpha: 1 Cell Size: 1 - Class: rviz/Grid + Class: rviz_default_plugins/Grid Color: 160; 160; 164 Enabled: false Line Style: @@ -69,7 +69,7 @@ Visualization Manager: Reference Frame: Value: false - Alpha: 1 - Class: rviz/Axes + Class: rviz_default_plugins/Axes Enabled: true Length: 4 Name: Axes @@ -77,7 +77,7 @@ Visualization Manager: Reference Frame: Show Trail: false Value: true - - Class: rviz/Group + - Class: rviz_common/Group Displays: - Alpha: 1 Autocompute Intensity Bounds: true @@ -87,7 +87,7 @@ Visualization Manager: Value: false Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 199; 228; 247 Color Transformer: FlatColor Decay Time: 0 @@ -115,7 +115,7 @@ Visualization Manager: Value: false Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 238; 238; 236 Color Transformer: RGB8 Decay Time: 10000 @@ -145,7 +145,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 239; 41; 41 Color Transformer: "" Decay Time: 0 @@ -167,10 +167,10 @@ Visualization Manager: Value: false Enabled: true Name: mapping - - Class: rviz/Group + - Class: rviz_common/Group Displays: - Angle Tolerance: 0.009999999776482582 - Class: rviz/Odometry + Class: rviz_default_plugins/Odometry Covariance: Orientation: Alpha: 0.5 @@ -208,7 +208,7 @@ Visualization Manager: Name: Odometry - Alpha: 0 Buffer Length: 2 - Class: rviz/Path + Class: rviz_default_plugins/Path Color: 25; 255; 255 Enabled: true Head Diameter: 0 @@ -238,7 +238,7 @@ Visualization Manager: Value: false Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 239; 41; 41 Color Transformer: Intensity Decay Time: 1000 @@ -258,7 +258,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: false - - Class: rviz/Marker + - Class: rviz_default_plugins/Marker Enabled: true Marker Topic: /planner_normal Name: Marker @@ -266,7 +266,7 @@ Visualization Manager: {} Queue Size: 100 Value: true - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: false Marker Topic: /voxels Name: MarkerArray @@ -282,7 +282,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 245; 121; 0 Color Transformer: FlatColor Decay Time: 0 @@ -302,7 +302,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: false - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: false Marker Topic: /visualization_marker Name: MarkerArray @@ -318,7 +318,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 92; 53; 102 Color Transformer: FlatColor Decay Time: 99999 @@ -346,7 +346,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 115; 210; 22 Color Transformer: FlatColor Decay Time: 0 @@ -374,7 +374,7 @@ Visualization Manager: Value: false Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 237; 212; 0 Color Transformer: FlatColor Decay Time: 0 @@ -402,7 +402,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 239; 41; 41 Color Transformer: FlatColor Decay Time: 99999 @@ -430,7 +430,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz/PointCloud2 + Class: rviz_default_plugins/PointCloud2 Color: 92; 53; 102 Color Transformer: FlatColor Decay Time: 0 @@ -451,7 +451,7 @@ Visualization Manager: Use rainbow: true Value: false - Angle Tolerance: 0 - Class: rviz/Odometry + Class: rviz_default_plugins/Odometry Covariance: Orientation: Alpha: 0.5 @@ -485,7 +485,7 @@ Visualization Manager: Topic: /aft_mapped_to_init Unreliable: false Value: false - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: false Marker Topic: /waypoint_planner/visualize Name: MarkerArray @@ -493,7 +493,7 @@ Visualization Manager: {} Queue Size: 100 Value: false - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: true Marker Topic: /fsm_node/visualization/exp_traj Name: MarkerArray @@ -501,7 +501,7 @@ Visualization Manager: {} Queue Size: 100 Value: true - - Class: rviz/MarkerArray + - Class: rviz_default_plugins/MarkerArray Enabled: false Marker Topic: /fsm_node/visualization/exp_sfcs Name: MarkerArray @@ -509,7 +509,7 @@ Visualization Manager: {} Queue Size: 100 Value: false - - Class: rviz/Image + - Class: rviz_default_plugins/Image Enabled: true Image Topic: /rgb_img Max Value: 1 @@ -529,26 +529,26 @@ Visualization Manager: Frame Rate: 30 Name: root Tools: - - Class: rviz/Interact + - Class: rviz_default_plugins/Interact Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + - Class: rviz_default_plugins/SetInitialPose Theta std deviation: 0.2617993950843811 Topic: /initialpose X std deviation: 0.5 Y std deviation: 0.5 - - Class: rviz/SetGoal + - Class: rviz_default_plugins/SetGoal Topic: /move_base_simple/goal - - Class: rviz/PublishPoint + - Class: rviz_default_plugins/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: - Class: rviz/ThirdPersonFollower + Class: rviz_default_plugins/ThirdPersonFollower Distance: 582.7694702148438 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -569,7 +569,7 @@ Visualization Manager: Target Frame: drone Yaw: 3.1317780017852783 Saved: - - Class: rviz/Orbit + - Class: rviz_default_plugins/Orbit Distance: 117.53474426269531 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -589,7 +589,7 @@ Visualization Manager: Pitch: 0.19539840519428253 Target Frame: Yaw: 0.17540442943572998 - - Class: rviz/Orbit + - Class: rviz_default_plugins/Orbit Distance: 109.3125 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -609,7 +609,7 @@ Visualization Manager: Pitch: 0.035398442298173904 Target Frame: Yaw: 5.793589115142822 - - Class: rviz/Orbit + - Class: rviz_default_plugins/Orbit Distance: 85.65605163574219 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -629,7 +629,7 @@ Visualization Manager: Pitch: 0.5653983950614929 Target Frame: Yaw: 0.9104044437408447 - - Class: rviz/Orbit + - Class: rviz_default_plugins/Orbit Distance: 60.1053581237793 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 From 3834ba4655113c7bba9004743153bd5237e5b79e Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Sun, 2 Mar 2025 18:41:20 +0800 Subject: [PATCH 14/21] docs; update README.md --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 82c945f0..9122b51e 100644 --- a/README.md +++ b/README.md @@ -39,6 +39,9 @@ We open-source our handheld device, including CAD files, synchronization scheme, ### 1.4 Our associate dataset: FAST-LIVO2-Dataset Our associate dataset [**FAST-LIVO2-Dataset**](https://connecthkuhk-my.sharepoint.com/:f:/g/personal/zhengcr_connect_hku_hk/ErdFNQtjMxZOorYKDTtK4ugBkogXfq1OfDm90GECouuIQA?e=KngY9Z) used for evaluation is also available online. **Please note that the dataset is being uploaded gradually.** +### MARS-LVIG dataset +[**MARS-LVIG dataset**](https://mars.hku.hk/dataset.html)：A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion + ## 2. Prerequisited ### 2.1 Ubuntu and ROS From fe99cc2209a239053f910e29126daddf0e2c3f5f Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Sun, 2 Mar 2025 18:57:10 +0800 Subject: [PATCH 15/21] style: update CMakeLists.txt --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index baac76bf..7f48fc77 100755 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -146,7 +146,7 @@ ament_target_dependencies(pre ${dependencies}) ament_target_dependencies(imu_proc ${dependencies}) ament_target_dependencies(laser_mapping ${dependencies}) -# 链接库或可执行文件到公共依赖项 +# linking libraries or executables to public dependencies target_link_libraries(laser_mapping ${CMAKE_SOURCE_DIR}/../../install/vikit_common/lib/libvikit_common.so ${CMAKE_SOURCE_DIR}/../../install/vikit_ros/lib/libvikit_ros.so From 3ab8984343c1d8b881868737441074314b6c8229 Mon Sep 17 00:00:00 2001 From: sujit-168 Date: Tue, 18 Mar 2025 23:23:33 +0800 Subject: [PATCH 16/21] docs: update README.md --- README.md | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 9122b51e..1081339b 100644 --- a/README.md +++ b/README.md @@ -129,6 +129,7 @@ Download our collected rosbag files via OneDrive ([**FAST-LIVO2-Dataset**](https convert ROS1 rosbag to ROS2 rosbag ```bash +pip install rosbags rosbags-convert --src Retail_Street.bag --dst Retail_Street ``` - [gitlab rosbags](https://gitlab.com/ternaris/rosbags) @@ -136,7 +137,9 @@ rosbags-convert --src Retail_Street.bag --dst Retail_Street ### change the msg type on rosbag -Such as dataset `Retail_Street.db3`, because we use `livox_ros2_driver2`'s `CustomMsg`, we need to change the msg type in the rosbag file. We use `rosbag2 modify` to change the msg type. +Such as dataset `Retail_Street.db3`, because we use `livox_ros2_driver2`'s `CustomMsg`, we need to change the msg type in the rosbag file. +1. use `rosbags-convert` to convert rosbag from ROS1 to ROS2. +2. change the msg type of msg type in **metadata.yaml** as follows: **metadata.yaml** ```diff @@ -163,7 +166,9 @@ rosbag2_bagfile_information: ..... ``` -Do not forget to source your ROS2 workspace before running the following command. +### Run the demo + +Do not forget to `source` your ROS2 workspace before running the following command. ```bash ros2 launch fast_livo mapping_aviz.launch.py use_rviz:=True From dfe0d12a124fff00e9861257ba57b1ab1afac038 Mon Sep 17 00:00:00 2001 From: James Ward Date: Mon, 24 Mar 2025 11:37:29 +1100 Subject: [PATCH 17/21] Set camera parameters on mapping node Make use of ROS2 NodeOptions to allow undeclared parameters. Guard against parameters already set by parameters file. --- config/camera_MARS_LVIG.yaml | 51 ++++++------- config/camera_pinhole.yaml | 25 +++---- include/LIVMapper.h | 6 +- launch/mapping_aviz.launch.py | 13 +--- src/LIVMapper.cpp | 132 +++++++++++++++++++--------------- src/main.cpp | 7 +- src/voxel_map.cpp | 41 +++++++---- 7 files changed, 148 insertions(+), 127 deletions(-) diff --git a/config/camera_MARS_LVIG.yaml b/config/camera_MARS_LVIG.yaml index 4b4e09fc..aa48b859 100644 --- a/config/camera_MARS_LVIG.yaml +++ b/config/camera_MARS_LVIG.yaml @@ -1,28 +1,29 @@ /**: ros__parameters: - cam_model: Pinhole - # HKisland HKairport - cam_width: 2448 - cam_height: 2048 - scale: 0.25 - cam_fx: 1444.431662789634 - cam_fy: 1444.343536688358 - cam_cx: 1177.801079401826 - cam_cy: 1043.601026568268 - cam_d0: -0.05729528706141188 - cam_d1: 0.1210407244166642 - cam_d2: 0.001274128378760289 - cam_d3: 0.0004389741530109464 + camera: + model: Pinhole + # HKisland HKairport + width: 2448 + height: 2048 + scale: 0.25 + fx: 1444.431662789634 + fy: 1444.343536688358 + cx: 1177.801079401826 + cy: 1043.601026568268 + d0: -0.05729528706141188 + d1: 0.1210407244166642 + d2: 0.001274128378760289 + d3: 0.0004389741530109464 - # AMtown AMvalley - # cam_width: 2448 - # cam_height: 2048 - # scale: 0.25 - # cam_fx: 1453.88 - # cam_fy: 1452.85 - # cam_cx: 1182.53 - # cam_cy: 1045.82 - # cam_d0: -0.052 - # cam_d1: 0.1168 - # cam_d2: 0.0015 - # cam_d3: 0.00013 \ No newline at end of file + # AMtown AMvalley + # width: 2448 + # height: 2048 + # scale: 0.25 + # fx: 1453.88 + # fy: 1452.85 + # cx: 1182.53 + # cy: 1045.82 + # d0: -0.052 + # d1: 0.1168 + # d2: 0.0015 + # d3: 0.00013 diff --git a/config/camera_pinhole.yaml b/config/camera_pinhole.yaml index 8c8da9a1..e416c89c 100644 --- a/config/camera_pinhole.yaml +++ b/config/camera_pinhole.yaml @@ -1,14 +1,15 @@ /**: ros__parameters: - cam_model: Pinhole - cam_width: 1280 - cam_height: 1024 - scale: 0.5 - cam_fx: 1293.56944 - cam_fy: 1293.3155 - cam_cx: 626.91359 - cam_cy: 522.799224 - cam_d0: -0.076160 - cam_d1: 0.123001 - cam_d2: -0.00113 - cam_d3: 0.000251 \ No newline at end of file + camera: + model: Pinhole + width: 1280 + height: 1024 + scale: 0.5 + fx: 1293.56944 + fy: 1293.3155 + cx: 626.91359 + cy: 522.799224 + d0: -0.076160 + d1: 0.123001 + d2: -0.00113 + d3: 0.000251 diff --git a/include/LIVMapper.h b/include/LIVMapper.h index eb6170af..8bbaf055 100644 --- a/include/LIVMapper.h +++ b/include/LIVMapper.h @@ -16,7 +16,7 @@ which is included as part of this source code package. #include "IMU_Processing.h" #include "vio.h" #include "preprocess.h" -#include +#include #include #include #include @@ -26,7 +26,7 @@ which is included as part of this source code package. class LIVMapper { public: - LIVMapper(rclcpp::Node::SharedPtr &node, std::string node_name); + LIVMapper(rclcpp::Node::SharedPtr &node, std::string node_name, const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); ~LIVMapper(); void initializeSubscribersAndPublishers(rclcpp::Node::SharedPtr &nh, image_transport::ImageTransport &it_); void initializeComponents(rclcpp::Node::SharedPtr &node); @@ -186,4 +186,4 @@ class LIVMapper double aver_time_map_inre = 0; bool colmap_output_en = false; }; -#endif \ No newline at end of file +#endif diff --git a/launch/mapping_aviz.launch.py b/launch/mapping_aviz.launch.py index a9b17a59..ab768309 100644 --- a/launch/mapping_aviz.launch.py +++ b/launch/mapping_aviz.launch.py @@ -60,18 +60,6 @@ def generate_launch_description(): # shell=True # ), - # use parameter_blackboard as global parameters server and load camera params - Node( - package='demo_nodes_cpp', - executable='parameter_blackboard', - name='parameter_blackboard', - # namespace='laserMapping', - parameters=[ - camera_params_file, - ], - output='screen' - ), - # republish compressed image to raw image # https://robotics.stackexchange.com/questions/110939/how-do-i-remap-compressed-video-to-raw-video-in-ros2 # ros2 run image_transport republish compressed raw --ros-args --remap in:=/left_camera/image --remap out:=/left_camera/image @@ -97,6 +85,7 @@ def generate_launch_description(): name="laserMapping", parameters=[ avia_params_file, + camera_params_file, ], # https://docs.ros.org/en/humble/How-To-Guides/Getting-Backtraces-in-ROS-2.html prefix=[ diff --git a/src/LIVMapper.cpp b/src/LIVMapper.cpp index 0968df84..3318dbb8 100755 --- a/src/LIVMapper.cpp +++ b/src/LIVMapper.cpp @@ -14,8 +14,8 @@ which is included as part of this source code package. #include using namespace Sophus; -LIVMapper::LIVMapper(rclcpp::Node::SharedPtr &node, std::string node_name) - : node(std::make_shared(node_name)), +LIVMapper::LIVMapper(rclcpp::Node::SharedPtr &node, std::string node_name, const rclcpp::NodeOptions & options) + : node(std::make_shared(node_name, options)), extT(0, 0, 0), extR(M3D::Identity()) { @@ -53,61 +53,75 @@ LIVMapper::~LIVMapper() {} void LIVMapper::readParameters(rclcpp::Node::SharedPtr &node) { // declare parameters - this->node->declare_parameter("common.lid_topic", "/livox/lidar"); - this->node->declare_parameter("common.imu_topic", "/livox/imu"); - this->node->declare_parameter("common.ros_driver_bug_fix", false); - this->node->declare_parameter("common.img_en", 1); - this->node->declare_parameter("common.lidar_en", 1); - this->node->declare_parameter("common.img_topic", "/left_camera/image"); - - this->node->declare_parameter("vio.normal_en", true); - this->node->declare_parameter("vio.inverse_composition_en", false); - this->node->declare_parameter("vio.max_iterations", 5); - this->node->declare_parameter("vio.img_point_cov", 100); - this->node->declare_parameter("vio.raycast_en", false); - this->node->declare_parameter("vio.exposure_estimate_en", true); - this->node->declare_parameter("vio.inv_expo_cov", 0.1); - this->node->declare_parameter("vio.grid_size", 5); - this->node->declare_parameter("vio.grid_n_height", 17); - this->node->declare_parameter("vio.patch_pyrimid_level", 4); - this->node->declare_parameter("vio.patch_size", 8); - this->node->declare_parameter("vio.outlier_threshold", 100); - this->node->declare_parameter("time_offset.exposure_time_init", 0.0); - this->node->declare_parameter("time_offset.img_time_offset", 0.0); - this->node->declare_parameter("uav.imu_rate_odom", false); - this->node->declare_parameter("uav.gravity_align_en", false); - - this->node->declare_parameter("evo.seq_name", "01"); - this->node->declare_parameter("evo.pose_output_en", false); - this->node->declare_parameter("imu.gyr_cov", 1.0); - this->node->declare_parameter("imu.acc_cov", 1.0); - this->node->declare_parameter("imu.imu_int_frame", 30); - this->node->declare_parameter("imu.imu_en", true); - this->node->declare_parameter("imu.gravity_est_en", true); - this->node->declare_parameter("imu.ba_bg_est_en", true); - - this->node->declare_parameter("preprocess.blind", 0.01); - this->node->declare_parameter("preprocess.filter_size_surf", 0.5); - this->node->declare_parameter("preprocess.lidar_type", AVIA); - this->node->declare_parameter("preprocess.scan_line",6); - this->node->declare_parameter("preprocess.point_filter_num", 3); - this->node->declare_parameter("preprocess.feature_extract_enabled", false); - - this->node->declare_parameter("pcd_save.interval", -1); - this->node->declare_parameter("pcd_save.pcd_save_en", false); - this->node->declare_parameter("pcd_save.colmap_output_en", false); - this->node->declare_parameter("pcd_save.filter_size_pcd", 0.5); - this->node->declare_parameter>("extrin_calib.extrinsic_T", vector{}); - this->node->declare_parameter>("extrin_calib.extrinsic_R", vector{}); - this->node->declare_parameter>("extrin_calib.Pcl", vector{}); - this->node->declare_parameter>("extrin_calib.Rcl", vector{}); - this->node->declare_parameter("debug.plot_time", -10); - this->node->declare_parameter("debug.frame_cnt", 6); - - this->node->declare_parameter("publish.blind_rgb_points", 0.01); - this->node->declare_parameter("publish.pub_scan_num", 1); - this->node->declare_parameter("publish.pub_effect_point_en", false); - this->node->declare_parameter("publish.dense_map_en", false); + auto try_declare = [node](const std::string & name, + const ParameterT & default_value) + { + if (!node->has_parameter(name)) + { + return node->declare_parameter(name, default_value); + } + else + { + return node->get_parameter(name).get_value(); + } + }; + + // declare parameter + try_declare.template operator()("common.lid_topic", "/livox/lidar"); + try_declare.template operator()("common.imu_topic", "/livox/imu"); + try_declare.template operator()("common.ros_driver_bug_fix", false); + try_declare.template operator()("common.img_en", 1); + try_declare.template operator()("common.lidar_en", 1); + try_declare.template operator()("common.img_topic", "/left_camera/image"); + + try_declare.template operator()("vio.normal_en", true); + try_declare.template operator()("vio.inverse_composition_en", false); + try_declare.template operator()("vio.max_iterations", 5); + try_declare.template operator()("vio.img_point_cov", 100); + try_declare.template operator()("vio.raycast_en", false); + try_declare.template operator()("vio.exposure_estimate_en", true); + try_declare.template operator()("vio.inv_expo_cov", 0.1); + try_declare.template operator()("vio.grid_size", 5); + try_declare.template operator()("vio.grid_n_height", 17); + try_declare.template operator()("vio.patch_pyrimid_level", 4); + try_declare.template operator()("vio.patch_size", 8); + try_declare.template operator()("vio.outlier_threshold", 100); + try_declare.template operator()("time_offset.exposure_time_init", 0.0); + try_declare.template operator()("time_offset.img_time_offset", 0.0); + try_declare.template operator()("uav.imu_rate_odom", false); + try_declare.template operator()("uav.gravity_align_en", false); + + try_declare.template operator()("evo.seq_name", "01"); + try_declare.template operator()("evo.pose_output_en", false); + try_declare.template operator()("imu.gyr_cov", 1.0); + try_declare.template operator()("imu.acc_cov", 1.0); + try_declare.template operator()("imu.imu_int_frame", 30); + try_declare.template operator()("imu.imu_en", true); + try_declare.template operator()("imu.gravity_est_en", true); + try_declare.template operator()("imu.ba_bg_est_en", true); + + try_declare.template operator()("preprocess.blind", 0.01); + try_declare.template operator()("preprocess.filter_size_surf", 0.5); + try_declare.template operator()("preprocess.lidar_type", AVIA); + try_declare.template operator()("preprocess.scan_line",6); + try_declare.template operator()("preprocess.point_filter_num", 3); + try_declare.template operator()("preprocess.feature_extract_enabled", false); + + try_declare.template operator()("pcd_save.interval", -1); + try_declare.template operator()("pcd_save.pcd_save_en", false); + try_declare.template operator()("pcd_save.colmap_output_en", false); + try_declare.template operator()("pcd_save.filter_size_pcd", 0.5); + try_declare.template operator()>("extrin_calib.extrinsic_T", vector{}); + try_declare.template operator()>("extrin_calib.extrinsic_R", vector{}); + try_declare.template operator()>("extrin_calib.Pcl", vector{}); + try_declare.template operator()>("extrin_calib.Rcl", vector{}); + try_declare.template operator()("debug.plot_time", -10); + try_declare.template operator()("debug.frame_cnt", 6); + + try_declare.template operator()("publish.blind_rgb_points", 0.01); + try_declare.template operator()("publish.pub_scan_num", 1); + try_declare.template operator()("publish.pub_effect_point_en", false); + try_declare.template operator()("publish.dense_map_en", false); // get parameter this->node->get_parameter("common.lid_topic", lid_topic); @@ -182,7 +196,7 @@ void LIVMapper::initializeComponents(rclcpp::Node::SharedPtr &node) voxelmap_manager->extT_ << VEC_FROM_ARRAY(extrinT); voxelmap_manager->extR_ << MAT_FROM_ARRAY(extrinR); - if (!vk::camera_loader::loadFromRosNs(this->node, "parameter_blackboard", vio_manager->cam)) throw std::runtime_error("Camera model not correctly specified."); + if (!vk::camera_loader::loadFromRosNs(this->node, "camera", vio_manager->cam)) throw std::runtime_error("Camera model not correctly specified."); vio_manager->grid_size = grid_size; vio_manager->patch_size = patch_size; @@ -1367,4 +1381,4 @@ void LIVMapper::publish_path(const rclcpp::Publisher::Share msg_body_pose.header.frame_id = "camera_init"; path.poses.push_back(msg_body_pose); pubPath->publish(path); -} \ No newline at end of file +} diff --git a/src/main.cpp b/src/main.cpp index 61dd592a..73c969e4 100755 --- a/src/main.cpp +++ b/src/main.cpp @@ -4,11 +4,14 @@ int main(int argc, char **argv) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; + options.allow_undeclared_parameters(true); + options.automatically_declare_parameters_from_overrides(true); + rclcpp::Node::SharedPtr nh; image_transport::ImageTransport it_(nh); - LIVMapper mapper(nh, "laserMapping"); + LIVMapper mapper(nh, "laserMapping", options); mapper.initializeSubscribersAndPublishers(nh, it_); mapper.run(nh); rclcpp::shutdown(); return 0; -} \ No newline at end of file +} diff --git a/src/voxel_map.cpp b/src/voxel_map.cpp index 731222cd..bf773562 100644 --- a/src/voxel_map.cpp +++ b/src/voxel_map.cpp @@ -35,22 +35,35 @@ void calcBodyCov(Eigen::Vector3d &pb, const float range_inc, const float degree_ void loadVoxelConfig(rclcpp::Node::SharedPtr &node, VoxelMapConfig &voxel_config) { + auto try_declare = [node](const std::string & name, + const ParameterT & default_value) + { + if (!node->has_parameter(name)) + { + return node->declare_parameter(name, default_value); + } + else + { + return node->get_parameter(name).get_value(); + } + }; + // declare parameter - node->declare_parameter("publish.pub_plane_en", false); - node->declare_parameter("lio.max_layer", 1); - node->declare_parameter("lio.voxel_size", 0.5); - node->declare_parameter("lio.min_eigen_value", 0.01); - node->declare_parameter("lio.sigma_num", 3); - node->declare_parameter("lio.beam_err", 0.02); - node->declare_parameter("lio.dept_err", 0.05); + try_declare.template operator()("publish.pub_plane_en", false); + try_declare.template operator()("lio.max_layer", 1); + try_declare.template operator()("lio.voxel_size", 0.5); + try_declare.template operator()("lio.min_eigen_value", 0.01); + try_declare.template operator()("lio.sigma_num", 3); + try_declare.template operator()("lio.beam_err", 0.02); + try_declare.template operator()("lio.dept_err", 0.05); // Declaration of parameter of type std::vector won't build, https://github.com/ros2/rclcpp/issues/1585 - node->declare_parameter>("lio.layer_init_num", std::vector{5,5,5,5,5}); - node->declare_parameter("lio.max_points_num", 50); - node->declare_parameter("lio.min_iterations", 5); - node->declare_parameter("local_map.map_sliding_en", false); - node->declare_parameter("local_map.half_map_size", 100); - node->declare_parameter("local_map.sliding_thresh", 8.0); + try_declare.template operator()>("lio.layer_init_num", std::vector{5,5,5,5,5}); + try_declare.template operator()("lio.max_points_num", 50); + try_declare.template operator()("lio.min_iterations", 5); + try_declare.template operator()("local_map.map_sliding_en", false); + try_declare.template operator()("local_map.half_map_size", 100); + try_declare.template operator()("local_map.sliding_thresh", 8.0); // get parameter node->get_parameter("publish.pub_plane_en", voxel_config.is_pub_plane_map_); @@ -984,4 +997,4 @@ void VoxelMapManager::clearMemOutOfMap(const int& x_max,const int& x_min,const i } std::cout< Date: Mon, 24 Mar 2025 11:38:09 +1100 Subject: [PATCH 18/21] Correct name of launch file --- launch/{mapping_aviz.launch.py => mapping_avia.launch.py} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename launch/{mapping_aviz.launch.py => mapping_avia.launch.py} (100%) diff --git a/launch/mapping_aviz.launch.py b/launch/mapping_avia.launch.py similarity index 100% rename from launch/mapping_aviz.launch.py rename to launch/mapping_avia.launch.py From a002ccb24b0933242621ecdfdeabeb8e03f36016 Mon Sep 17 00:00:00 2001 From: James Ward Date: Tue, 1 Apr 2025 10:45:02 +1100 Subject: [PATCH 19/21] Set blind range member variable --- src/LIVMapper.cpp | 2 ++ src/preprocess.cpp | 5 ++++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/src/LIVMapper.cpp b/src/LIVMapper.cpp index 3318dbb8..f558d002 100755 --- a/src/LIVMapper.cpp +++ b/src/LIVMapper.cpp @@ -179,6 +179,8 @@ void LIVMapper::readParameters(rclcpp::Node::SharedPtr &node) this->node->get_parameter("publish.pub_scan_num", pub_scan_num); this->node->get_parameter("publish.pub_effect_point_en", pub_effect_point_en); this->node->get_parameter("publish.dense_map_en", dense_map_en); + + p_pre->blind_sqr = p_pre->blind * p_pre->blind; } void LIVMapper::initializeComponents(rclcpp::Node::SharedPtr &node) diff --git a/src/preprocess.cpp b/src/preprocess.cpp index 3f5745b1..9e528ca1 100755 --- a/src/preprocess.cpp +++ b/src/preprocess.cpp @@ -48,6 +48,7 @@ void Preprocess::set(bool feat_en, int lid_type, double bld, int pfilt_num) feature_enabled = feat_en; lidar_type = lid_type; blind = bld; + blind_sqr = bld * bld; point_filter_num = pfilt_num; } @@ -119,6 +120,8 @@ void Preprocess::avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr pl_full[i].z = msg->points[i].z; pl_full[i].intensity = msg->points[i].reflectivity; pl_full[i].curvature = msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points + double range = pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z; + if (range < blind_sqr) continue; bool is_new = false; if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7) || (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7) || @@ -1077,4 +1080,4 @@ bool Preprocess::edge_jump_judge(const PointCloudXYZI &pl, vector &type if (d1 > edgea * d2 || (d1 - d2) > edgeb) { return false; } return true; -} \ No newline at end of file +} From ca71eb4d21f2ce080675c6f1ae8b76502807eee6 Mon Sep 17 00:00:00 2001 From: "Tanner, Gilbert" Date: Tue, 8 Apr 2025 09:47:26 +0200 Subject: [PATCH 20/21] fix: Change Velodyne message time handling Signed-off-by: Tanner, Gilbert --- include/preprocess.h | 6 +++--- src/LIVMapper.cpp | 2 ++ src/preprocess.cpp | 10 ++++++---- 3 files changed, 11 insertions(+), 7 deletions(-) diff --git a/include/preprocess.h b/include/preprocess.h index 8e99866e..98303037 100755 --- a/include/preprocess.h +++ b/include/preprocess.h @@ -70,13 +70,13 @@ struct EIGEN_ALIGN16 Point { PCL_ADD_POINT4D; float intensity; - std::uint32_t t; + float time; std::uint16_t ring; EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; } // namespace velodyne_ros POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point, - (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint32_t, t, t)(std::uint16_t, ring, ring)) + (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(float, time, time)(std::uint16_t, ring, ring)) /****************/ /*** Ouster ***/ @@ -146,7 +146,7 @@ class Preprocess PointCloudXYZI pl_full, pl_corn, pl_surf; PointCloudXYZI pl_buff[128]; // maximum 128 line lidar vector typess[128]; // maximum 128 line lidar - int lidar_type, point_filter_num, N_SCANS; + int lidar_type, point_filter_num, N_SCANS, SCAN_RATE; double blind, blind_sqr; bool feature_enabled, given_offset_time; diff --git a/src/LIVMapper.cpp b/src/LIVMapper.cpp index f558d002..d8bc2e6c 100755 --- a/src/LIVMapper.cpp +++ b/src/LIVMapper.cpp @@ -105,6 +105,7 @@ void LIVMapper::readParameters(rclcpp::Node::SharedPtr &node) try_declare.template operator()("preprocess.lidar_type", AVIA); try_declare.template operator()("preprocess.scan_line",6); try_declare.template operator()("preprocess.point_filter_num", 3); + try_declare.template operator()("preprocess.scan_rate", 10); try_declare.template operator()("preprocess.feature_extract_enabled", false); try_declare.template operator()("pcd_save.interval", -1); @@ -161,6 +162,7 @@ void LIVMapper::readParameters(rclcpp::Node::SharedPtr &node) this->node->get_parameter("preprocess.filter_size_surf", filter_size_surf_min); this->node->get_parameter("preprocess.lidar_type", p_pre->lidar_type); this->node->get_parameter("preprocess.scan_line", p_pre->N_SCANS); + this->node->get_parameter("preprocess.scan_rate", p_pre->SCAN_RATE); this->node->get_parameter("preprocess.point_filter_num", p_pre->point_filter_num); this->node->get_parameter("preprocess.feature_extract_enabled", p_pre->feature_enabled); diff --git a/src/preprocess.cpp b/src/preprocess.cpp index 9e528ca1..e3a74fdb 100755 --- a/src/preprocess.cpp +++ b/src/preprocess.cpp @@ -19,6 +19,7 @@ Preprocess::Preprocess() : feature_enabled(0), lidar_type(AVIA), blind(0.01), po { inf_bound = 10; N_SCANS = 6; + SCAN_RATE = 10; group_size = 8; disA = 0.01; disA = 0.1; // B? @@ -347,15 +348,16 @@ void Preprocess::velodyne_handler(const sensor_msgs::msg::PointCloud2::ConstShar pcl::PointCloud pl_orig; pcl::fromROSMsg(*msg, pl_orig); int plsize = pl_orig.points.size(); + if (plsize == 0) return; pl_surf.reserve(plsize); bool is_first[MAX_LINE_NUM]; double yaw_fp[MAX_LINE_NUM] = {0}; // yaw of first scan point - double omega_l = 3.61; // scan angular velocity + double omega_l = 0.361 * SCAN_RATE; // scan angular velocity float yaw_last[MAX_LINE_NUM] = {0.0}; // yaw of last scan point float time_last[MAX_LINE_NUM] = {0.0}; // last offset time - if (pl_orig.points[plsize - 1].t > 0) { given_offset_time = true; } + if (pl_orig.points[plsize - 1].time > 0) { given_offset_time = true; } else { given_offset_time = false; @@ -393,7 +395,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::msg::PointCloud2::ConstShar added_pt.y = pl_orig.points[i].y; added_pt.z = pl_orig.points[i].z; added_pt.intensity = pl_orig.points[i].intensity; - added_pt.curvature = pl_orig.points[i].t / 1000.0; // units: ms + added_pt.curvature = pl_orig.points[i].time / 1000.0; // units: ms if (!given_offset_time) { @@ -456,7 +458,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::msg::PointCloud2::ConstShar added_pt.y = pl_orig.points[i].y; added_pt.z = pl_orig.points[i].z; added_pt.intensity = pl_orig.points[i].intensity; - added_pt.curvature = pl_orig.points[i].t / 1000.0; + added_pt.curvature = pl_orig.points[i].time / 1000.0; if (!given_offset_time) { From b15085c1beabb908b928b6a9a5cbaa6e173c1808 Mon Sep 17 00:00:00 2001 From: "Tanner, Gilbert" Date: Tue, 8 Apr 2025 10:28:04 +0200 Subject: [PATCH 21/21] fix: Compilation of pre-iron versions Signed-off-by: Tanner, Gilbert --- CMakeLists.txt | 4 ++++ include/LIVMapper.h | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7f48fc77..e1644bd6 100755 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,6 +8,10 @@ set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_EXTENSIONS OFF) +IF("$ENV{ROS_DISTRO}" STRLESS "iron") + add_definitions(-DPRE_ROS_IRON) +ENDIF() + # Set common compile options set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -fexceptions") diff --git a/include/LIVMapper.h b/include/LIVMapper.h index 8bbaf055..941d5de6 100644 --- a/include/LIVMapper.h +++ b/include/LIVMapper.h @@ -16,7 +16,11 @@ which is included as part of this source code package. #include "IMU_Processing.h" #include "vio.h" #include "preprocess.h" +#ifdef PRE_ROS_IRON +#include +#else #include +#endif #include #include #include