hsqthu2012 / realsense_elevation_mapping

elevation mapping using realsense

Realsense Elevation Mapping

This package is based on ZJU-Robotics-Lab/GEM.

Modified by Suqin He in 2021

Dependencies

This software is built on the ROS, which needs to be installed first. Additionally, the Globally consistent dense Elevation Mapping depends on following software:

• Navigation (navigation library for costmap_2d required by Grid Map)
• Octomap (Mapping tools to be used with the OctoMap library.)
• OpenCV (required by Grid Map)
• Grid Map (grid map library for mobile robots)
• Point Cloud Library (PCL) (point cloud processing),
• Eigen (linear algebra library, tested on 3.2.9 & 3.3.4; failed on 3.3.9).
• CUDA (gpu process)
• cudnn (pay attention to the version: CUDA 10.0 -> cudnn 7.4; CUDA 10.1 -> cudnn 7.6)

Building

cd catkin_workspace/src
git clone https://github.com/hsqthu2012/realsense_elevation_mapping.git
cd ../
catkin build

Basic Usage

A script is used to launch different nodes in a specific order to avoid crashing. Execute the following command to start a simple demo.

Visual Odometry

The odometry infomation is obtained using D455 visual odometry. The elevation map publishing rate is low due to the limit from visual odometry.

cd catkin_workspace/src/GEM/elevation_mapping/elevation_mapping_demos/launch
./timed_launch.sh

Odometry using T265 (Recomended)

The odometry infomation is obtained using T265 sensor. The elevation map publishing rate is much higher.

cd catkin_workspace/src/GEM/elevation_mapping/elevation_mapping_demos/launch
./timed_launch_d455_t265.sh

Important Parameters

In GEM/elevation_mapping/elevation_mapping_demos/config/robots/realsense_robot.yaml, the camera_params_yaml parameter should be modified to find the yq_intrinsic.yaml.

Change Local Map Size

In GEM/elevation_mapping/elevation_mapping_demos/config/elevation_maps/realsense_demo_map.yaml, change the following parameters

• length_in_x
• length_in_y
• resolution

Also, in realsense_start.launch or realsense_d455_t265_start.launch, change the following parameters to modify point cloud size

• clip_distance
• filter_limit_max
• leaf_size

Applicantion

Now this program has been tested on PC (15Hz) and Nvidia Jetson TX2, AGX Xavier (1314Hz) with 4mx4mx3cm map.