External Packages and Nodes#
Terminology#
+: interesting topics and hardware abstraction~: interesting, but quite a lot of work to do for hardware compatibility or mapping-: bad solution
Overview#
ROS Packages Overview#
3D Mapping#
SLAM#
Octomap_server : +#
3D occupancy grid mapping, independent from sensor, looks like it does not need odometry
Plus :
maintained
compatible with melodic
documentation available as well as many
no odometry
independent from hardware (only require the right input topics)
Minus :
…
Inputs required :
sensor_msgs/PointCloud2
Hector slam : +#
Not sure whether we’re interested in hector slam itself, or on the
Plus :
maintained
not directly compatible with melodic, but easy to build it from source for melodic
odometry not needed
Minus :
mostly created for 2D mapping and robot navigation
not much documentation
Inputs required :
…
REMODE : ~#
modeling of many 3D objects, like rooms, persons, …
Plus :
noise reduction
nice rendering
Minus :
not much documentation and precisions about
hardware/drivers/topicsmaybe “too much” for our needs ?
looks like it is not maintained anymore : latest commit was 4 years ago
Inputs :
…
LOAM#
RTABMAP : +#
Plus :
maintained
compatible with melodic
real time mapping
publishes :
3D point clouds
2D occupancy maps
tutorials and documentation available
Minus :
oriented towards robot navigation, although “top-down” modeling seems to be possible
Inputs required :
odometry (not mandatory in all cases)
scan 2D or 3D
Spin Hokuyo : +#
It creates a point cloud with a 2D LiDaR and a servomotor. The interesting node compiles small point clouds to make one big point cloud. Could be very useful to make our digital model.
Plus :
has a node that compiles point clouds and publish them on a topic
great rendering
Minus :
designed for another sensor, but the node that compiles point clouds does not care about that
need some odometry work
Inputs required :
laser scan
odometry
Lego-LOAM : ~#
Plus :
good rendering
Minus :
designed for robot navigation, not for “top-down mapping”
designed for another sensor (velodyne)
Inputs :
…
Velodyne loam : ~#
Plus :
good rendering
builds 3D maps
Minus :
for velodyne sensor
robot navigation
Inputs :
…
Bad solution -#
koide3/hdl_graph_slam : not what we need. creates maps with corridors and doors, but not “top-down” mapping
http://wiki.ros.org/robot_pose_ekf : not what we need
http://wiki.ros.org/ethzasl_icp_mapper : doc not up to date, slowly not maintained anymore, …
Modbus#
Object Tracking#
Multiple objects lidar tracking : ~#
Plus :
tracks objects in real time
hardware independent
Minus :
2D maps, most likely used for robot navigation
Inputs :
…