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An implementation of AVP-SLAM and some new contributions

License: GNU Affero General Public License v3.0

CMake 2.87% C++ 91.61% Python 5.46% C 0.05%

autonomous-driving avp-slam slam slam-algorithms state-estimation

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mfkiwl xiaoyaoe daoran wbercode wolf943134497 hu-minghao forrest-z bhsphd zengtaiping xsavvy qingsimon l-net-1992 ral-lee-ls hamradiodxer xiaoxiangyutf soho-tse chengwei920412 liuxinren456852 dangerous-xu shqfeng chengyushi1 jie311 xiaxiaofu vtppplusgo qixuxiang wanghuayou1028 kinggreat24 chenjiewang kongan oym1994 soaringls liuanhui clarkwang1214 jackyfriend bill4u freedomker fzd9752 godlovehill deephome jhch1995 kevinladlee einstein10147 gwx18800155805 happyboyneu jaten-robotics-lab-fork calm-wy michaelczhou pangzh tust13018211 hongranfu fitz-liu crisgao yezhicheng99 wangfy1 haoyuanz13 atlasgooo2 robot-mh a-l-a-n fisher1981 labimage duanchengwen zjw-1024 nataliegithub zhaoningbogithub findurname nwpuhe moshierming mountainxiu qiqzhang tianjun-world luruiwu yzjean zkdfbb dongyanchaotj xtsxisaxns eagleflag88 callmebylxh ghm0819 luoposss dlxxj zhouyong1234 rob530-w22-team25 richardtoo wenli0411 richexplor doche shj-12345 hhuismarter kejingjing88212 atlasgooo tqltech zxw2600 xiekunpeng0379 wan1995 metaselina daghty xjw1996 josephzcy liyang-whu colton-smith

avp-slam-plus's Issues

when I follow the installization guilds, I met this problem:
"Could NOT find gazebo_ros_control (missing: gazebo_ros_control_DIR)
Could not find the required component 'gazebo_ros_control'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"gazebo_ros_control" with any of the following names:
gazebo_ros_controlConfig.cmake
gazebo_ros_control-config.cmake "

could you please help me fix this problem?

Robot could not move

Hello Dear, I launched slamRGB.lauch and robot_control, the simulated parking lot shows, and the point cloud window, but when I try to increase the speed or move the car, the speed changes in the terminal but the robot does not move in the simulated parking lot.

编译无法生成可执行文件

你好，我编译时没有生成ros node，请问可以帮忙看一下问题出在哪里吗？谢谢了！
catkin_make执行，发现了各个packages，但是编译的时候好像没有编译AVP-SLAM-PLUS目录下的，编译过程中也没有报错，但是最终生成的可执行文件也没有AVP-SLAM-PLUS相关的。相关的过程可以参考下面的截图：

Getting incorrect slam result, when using roslaunch avp_slam_plus slamRGB.launch

I got a result like this when I am running roslaunch avp_slam_plus slamRGB.launch.

There's also some error showing in the terminal.

Please let me know if there's any solution to this issue.

Thanks in advance!

关于config里RT矩阵参数设置的疑问

config里面RT矩阵有一个XYZ->YZX的坐标变换，请问这个是出于什么考虑呢？

运行有2个错误

错误1：
spawnmodel failure - model name already exist
错误2：
[gazebo-1] process has died
这2个错误该怎么处理啊

代码可以在noetic中运行，但是rviz中是一片灰色，gazebo中只有地图没有汽车模型，这个是什么原因呢

[ERROR] : Unsupported Gazebo ImageFormat

Hello, Thanks for your open source code.
I run roslaunch avp_slam_plus slamRGB.launch on ubuntu20.04.
I met the error like this. could you help me ?
Thanks a lot.

setting /run_id to ccdf6336-ec52-11ec-a227-6f46fcf89108
process[rosout-1]: started with pid [99339]
started core service [/rosout]
process[gazebo-2]: started with pid [99354]
process[gazebo_gui-3]: started with pid [99359]
process[joint_state_publisher-4]: started with pid [99364]
process[robot_state_publisher-5]: started with pid [99365]
process[urdf_spawner-6]: started with pid [99368]
process[rviz-7]: started with pid [99373]
process[pointCloudFromRGB-8]: started with pid [99377]
[ WARN] [1655260093.366230375]: link 'base_link' material 'red' undefined.
process[mapping-9]: started with pid [99380]
[ WARN] [1655260093.370139822]: link 'base_link' material 'red' undefined.
[ WARN] [1655260093.373411814]: link 'xMark_link' material 'white' undefined.
[ WARN] [1655260093.373475971]: link 'xMark_link' material 'white' undefined.
[ WARN] [1655260093.373570737]: link 'yMark_link' material 'black' undefined.
[ WARN] [1655260093.373623964]: link 'yMark_link' material 'black' undefined.
[INFO] [1655260094.332368, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1655260094.351609, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1655260095.000981028]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1655260095.004058315]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1655260095.346666465]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1655260095.349617059]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1655260096.282615681]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1655260096.447414737, 1825.838000000]: Physics dynamic reconfigure ready.
[INFO] [1655260096.479189, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1655260097.419402014, 1825.986000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1655260097.426992448, 1825.986000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1655260097.436112553, 1825.986000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1655260097.445444441, 1825.986000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[INFO] [1655260097.484072, 1825.986000]: Spawn status: SpawnModel: Successfully spawned entity

**[ERROR] [1655260097.658475486, 1825.986000000]: Unsupported Gazebo ImageFormat

[ERROR] [1655260097.660442247, 1825.986000000]: Unsupported Gazebo ImageFormat**

请问你是如何获取的有效的roadline的呢？是否直接通过语义分割图片就可以得到了？

生成的地图，pcd文件不对

请问是哪里的参数配置没有打开吗?为何我跑一遍程序后在data里生成的地图总是一个多边形？
以下是调试信息。
PARAMETERS

/IcpEuclideanFitnessEpsilon: 0.001
/IcpMaxCorrespondenceDistance: 20
/IcpMaximumIterations: 100
/IcpTransformationEpsilon: 1e-10
/InvalidColorThresh: 60
/K: [337.208441096804...
/R0: [0, 1.0, 0, 0.0, ...
/T0: [0, 0.56, 0.0]
/cameraRealiableDis: 8
/closePointThresh: 0.1
/farPointThresh: 20
/gazebo/enable_ros_network: True
/icpFitnessScoreThresh: 0.3
/imageColIncrease: 4
/imageRowIncrease: 2
/mapSave: True
/mapSaveLocation: /home/wangjinkui/...
/ndtFitnessScoreThresh: 0.3
/ndtResolution: 1.0
/ndtTransformationEpsilon: 0.01
/odomKeyFramDisThresh: 1.0
/pointCloudLeafSize: 0.1
/robot_description: <?xml version="1....
/robot_state_publisher/publish_frequency: 50.0
/rosdistro: melodic
/rosversion: 1.14.11
/rotateDeg1: -1.0471975512
/rotateDeg2: -2.09439510239
/rotateDeg3: -3.14159265359
/rotateDeg4: 2.09439510239
/rotateDeg5: 1.0471975512
/skyColor: 178
/useICP: False
/useNDT: True
/use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
mapping (avp_slam_plus/mapping)
pointCloudFromRGB (avp_slam_plus/pointCloudFromRGB)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [10793]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8810229c-f2ef-11ec-9cb9-b46bfc7f4fea
process[rosout-1]: started with pid [10811]
started core service [/rosout]
process[gazebo-2]: started with pid [10818]
process[gazebo_gui-3]: started with pid [10823]
process[joint_state_publisher-4]: started with pid [10828]
process[robot_state_publisher-5]: started with pid [10829]
process[urdf_spawner-6]: started with pid [10830]
process[rviz-7]: started with pid [10835]
process[pointCloudFromRGB-8]: started with pid [10837]
process[mapping-9]: started with pid [10839]
[ INFO] [1655987115.746995464]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1655987115.750255709]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1655987115.833215969]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1655987115.836173538]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1655987116.230643, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1655987116.254208, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1655987116.260347, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1655987116.269821114]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1655987116.291300, 1825.799000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name robot

ros noetic下报错

在ros noetic下跑，报这个错误
Failed to build tree: parent link [base_link] of joint [camera1_joint] not found. This is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint [camera1_joint] from your urdf file, or add "" to your urdf file.

Full Functionality Code Inquiry

Hi @liuguitao ,

I’m so glad that I found your repo. I have read the codes inside your repo and I am interested in running your full functional code including: loop detection algorithm, pose graph, and kalman filter. If you don’t mind, perhaps you can share your full map that was used to get the result that you put inside your AVP-SLAM paper ? I would be very happy if you could share your code.

I hope to hear from you soon. Thanks

您好，按您的步骤，出现这个很奇怪的报错，百思不得其解。

can the code run in the large dateset rather than the simulate world? and how can I revise the code ? thanks very much!

你好，我在noetic上跑通了代码，roslaunch后没有显示小车的模型，相机的topic也没有数据，但是没有报错

log如下：
roslaunch avp_slam_plus slamRGB.launch
... logging to /root/.ros/log/4fbde08a-2433-11ed-b991-d85ed32f568d/roslaunch-shenjiacheng-Z590-GAMING-X-1622957.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://shenjiacheng-Z590-GAMING-X:46725/

SUMMARY

PARAMETERS

/IcpEuclideanFitnessEpsilon: 0.001
/IcpMaxCorrespondenceDistance: 20
/IcpMaximumIterations: 100
/IcpTransformationEpsilon: 1e-10
/InvalidColorThresh: 60
/K: [337.208441096804...
/R0: [0, 1.0, 0, 0.0, ...
/T0: [0, 0.56, 0.0]
/cameraRealiableDis: 8
/closePointThresh: 0.1
/farPointThresh: 20
/gazebo/enable_ros_network: True
/icpFitnessScoreThresh: 0.3
/imageColIncrease: 4
/imageRowIncrease: 2
/mapSave: True
/mapSaveLocation: /mnt/sjc_workspac...
/ndtFitnessScoreThresh: 0.3
/ndtResolution: 1.0
/ndtTransformationEpsilon: 0.01
/odomKeyFramDisThresh: 1.0
/pointCloudLeafSize: 0.1
/robot_description: <?xml version="1....
/robot_state_publisher/publish_frequency: 50.0
/rosdistro: noetic
/rosversion: 1.15.14
/rotateDeg1: -1.0471975511965976
/rotateDeg2: -2.0943951023931953
/rotateDeg3: -3.141592653589793
/rotateDeg4: 2.0943951023931953
/rotateDeg5: 1.0471975511965976
/skyColor: 178
/useICP: False
/useNDT: True
/use_sim_time: True

auto-starting new master
process[master]: started with pid [1622974]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4fbde08a-2433-11ed-b991-d85ed32f568d
process[rosout-1]: started with pid [1622984]
started core service [/rosout]
process[gazebo-2]: started with pid [1622991]
process[gazebo_gui-3]: started with pid [1622995]
process[joint_state_publisher-4]: started with pid [1623000]
process[robot_state_publisher-5]: started with pid [1623002]
process[urdf_spawner-6]: started with pid [1623003]
process[rviz-7]: started with pid [1623004]
process[pointCloudFromRGB-8]: started with pid [1623005]
process[mapping-9]: started with pid [1623011]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[INFO] [1661403832.860590, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1661403832.867019, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1661403832.923459101]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1661403832.924257138]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1661403832.991150598]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1661403832.992010511]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1661403834.047507709, 1825.804000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1661403834.072742, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1661403834.110467642, 1825.865000000]: Physics dynamic reconfigure ready.
[INFO] [1661403834.239540, 1825.971000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1661403834.255844258, 1825.971000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1661403834.255958825, 1825.971000000]: DiffDrive(ns = //): = Debug
[ INFO] [1661403834.257063601, 1825.971000000]: DiffDrive(ns = //): <tf_prefix> =
[DEBUG] [1661403834.257130804, 1825.971000000]: DiffDrive(ns = //): = cmd_vel
[DEBUG] [1661403834.257150965, 1825.971000000]: DiffDrive(ns = //): = odom
[DEBUG] [1661403834.257164804, 1825.971000000]: DiffDrive(ns = //): = odom
[DEBUG] [1661403834.257178969, 1825.971000000]: DiffDrive(ns = //): = base_footprint
[DEBUG] [1661403834.257223146, 1825.971000000]: DiffDrive(ns = //): = true
[ WARN] [1661403834.257243125, 1825.971000000]: DiffDrive(ns = //): missing default is true
[DEBUG] [1661403834.257265865, 1825.971000000]: DiffDrive(ns = //): = true
[DEBUG] [1661403834.257326302, 1825.971000000]: DiffDrive(ns = //): = 0.59999999999999998
[DEBUG] [1661403834.257349700, 1825.971000000]: DiffDrive(ns = //): = 0.12
[DEBUG] [1661403834.257368468, 1825.971000000]: DiffDrive(ns = //): = 1.8
[DEBUG] [1661403834.257386434, 1825.971000000]: DiffDrive(ns = //): = 30
[DEBUG] [1661403834.257402254, 1825.971000000]: DiffDrive(ns = //): = 100
[ WARN] [1661403834.257451387, 1825.971000000]: DiffDrive(ns = //): missing default is 1
[DEBUG] [1661403834.257488104, 1825.971000000]: DiffDrive(ns = //): = base_to_wheel_left_joint
[urdf_spawner-6] process has finished cleanly
log file: /root/.ros/log/4fbde08a-2433-11ed-b991-d85ed32f568d/urdf_spawner-6*.log

roslaunch avp_slam_plus slamRGB.launch 报错了

process[gazebo_gui-3]: started with pid [16016]
process[joint_state_publisher-4]: started with pid [16024]
process[robot_state_publisher-5]: started with pid [16029]
process[urdf_spawner-6]: started with pid [16030]
process[rviz-7]: started with pid [16031]
process[pointCloudFromRGB-8]: started with pid [16076]
process[mapping-9]: started with pid [16124]
[ INFO] [1650882330.767947882]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1650882330.769995199]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1650882330.801084214]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1650882330.802637633]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1650882331.050980, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1650882331.058136, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
X Error of failed request:  GLXBadDrawable
  Major opcode of failed request:  146 (GLX)
  Minor opcode of failed request:  5 (X_GLXMakeCurrent)
  Serial number of failed request:  28
  Current serial number in output stream:  28
Segmentation fault
[gazebo_gui-3] process has died [pid 16016, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home//.ros/log/06a5c356-c482-11ec-877d-00155ddb3f16/gazebo_gui-3.log].
log file: /home//.ros/log/06a5c356-c482-11ec-877d-00155ddb3f16/gazebo_gui-3*.log
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted
[gazebo-2] process has died [pid 16014, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode //catkin_ws/src/AVP-SLAM-PLUS/simlate_gazebo/simulate_enviroment/worlds/newAVP.world __name:=gazebo __log:=/home//.ros/log/06a5c356-c482-11ec-877d-00155ddb3f16/gazebo-2.log].
log file: /home//.ros/log/06a5c356-c482-11ec-877d-00155ddb3f16/gazebo-2*.log
================================================================================REQUIRED process [rviz-7] has died!
process has died [pid 16031, exit code -11, cmd /opt/ros/melodic/lib/rviz/rviz -d //catkin_ws/src/AVP-SLAM-PLUS/simlate_gazebo/simulate_enviroment/config/simulate_environment.rviz __name:=rviz __log:=/home//.ros/log/06a5c356-c482-11ec-877d-00155ddb3f16/rviz-7.log].
log file: /home//.ros/log/06a5c356-c482-11ec-877d-00155ddb3f16/rviz-7*.log
Initiating shutdown!
================================================================================
[mapping-9] killing on exit
[rviz-7] killing on exit
[pointCloudFromRGB-8] killing on exit