README.md

[Demo] Add node marginalization support

Link: SteveMacenski/slam_toolbox#468

1. Create a catkin workspace:

   mkdir -p demo_ws/src
   cd demo_ws

2. Import source repositories:

   vcs import src < demo.repos

3. Install all source packages' dependencies:

   rosdep install -i -y --rosdistro=noetic --from-path src \
       --skip-keys 'moose_gazebo warthog_gazebo ridgeback_gazebo dingo_gazebo heron_gazebo uuv_gazebo_worlds'

4. Build catkin workspace:

   catkin_make

5. Launch CPR's Jackal robot simulation in an office environment:

   roslaunch cpr_office_gazebo office_world.launch platform:=jackal config:=front_laser

   To use a joystick to teleop the robot, export ${JACKAL_JOY_DEVICE} envvar with your input device path before launching Gazebo.

6. Launch lifelong SLAM for CPR's Jackal robot:

   roslaunch jackal_navigation lifelong_slam_demo.launch

7. Start rviz to visualize robot, map, and pose graph:

   rviz -d demo.rviz

   To visualize pose graph edges in rviz, merge SteveMacenski/slam_toolbox#467 into your local slam_toolbox branch.

demo.repos

repositories:
  LMS1xx:
    type: git
    url: git@github.com:clearpathrobotics/LMS1xx.git
    version: noetic-devel
  cpr_gazebo:
    type: git
    url: git@github.com:ekumenlabs/cpr_gazebo.git
    version: melodic/tweak/jackal-external-config
  jackal:
    type: git
    url: git@github.com:ekumenlabs/jackal.git
    version: noetic/feature/lifelong-slam
  jackal_simulator:
    type: git
    url: git@github.com:jackal/jackal_simulator.git
    version: melodic-devel
  slam_toolbox:
    type: git
    url: git@github.com:ekumenlabs/slam_toolbox.git
    version: noetic/feature/chow_liu_tree_approximation

demo.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
      Splitter Ratio: 0.5
    Tree Height: 555
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Class: rviz/MarkerArray
      Enabled: true
      Marker Topic: /slam_toolbox/karto_graph_visualization
      Name: MarkerArray
      Namespaces:
        slam_toolbox: true
      Queue Size: 100
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        chassis_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_fender_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_laser:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_laser_mount:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_left_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_mount:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        front_right_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        mid_mount:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        navsat_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear_fender_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear_left_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        rear_mount:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        rear_right_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 18.45862579345703
      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: 6.700005531311035
        Y: 2.6283910274505615
        Z: 1.8276878595352173
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.3097965717315674
      Target Frame: <Fixed Frame>
      Yaw: 3.2004010677337646
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 846
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1200
  X: 72
  Y: 27