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emcl2_ros2
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mcl with expansion resetting (version 2)
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emcl2_ros2
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# emcl2_ros2: mcl with expansion resetting (version 2) [](https://github.com/CIT-Autonomous-Robot-Lab/emcl2_ros2/actions/workflows/test.yml) Emcl is an alternative Monte Carlo localization (MCL) package to amcl (http://wiki.ros.org/amcl). Differently from amcl, KLD-sampling and adaptive MCL are not implemented. Instead, the expansion resetting and other features are implemented[^1][^2]. This package is ROS 2 version of [ryuichiueda/emcl2](https://github.com/ryuichiueda/emcl2). ## ROS 2 version * ROS 2 Humble Hawksbill ## quick start ### Install & Build ``` mkdir ros2_ws && cd ros2_ws git clone git@github.com:CIT-Autonomous-Robot-Lab/emcl2_ros2.git ./src/emcl2_ros2 rosdep update rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO sudo apt install -y ros-$ROS_DISTRO-navigation2 ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-turtlebot3-gazebo colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release source install/setup.bash ``` ### Try emcl2 in simulator You may wait Gazebo to be initilalized. You can also use `./test/demo.bash`, in which the following procedure is written. ``` export TURTLEBOT3_MODEL=burger ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py ros2 launch nav2_bringup rviz_launch.py ros2 launch emcl2 emcl2.launch.py params_file:=$(ros2 pkg prefix --share emcl2)/config/emcl2_quick_start.param.yaml map:=$(ros2 pkg prefix --share nav2_bringup)/maps/turtlebot3_world.yaml use_sim_time:=true ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true ``` ## demo movies [](https://www.youtube.com/watch?v=dqS7KgGxwBs) [](https://www.youtube.com/watch?v=n9tzKY6ua_o) ## Nodes ### emcl2_node This node calculates the alpha value with a different algorithm than `emcl_node` in [ryuichiueda/emcl](https://github.com/ryuichiueda/emcl). This node counts the particles that make lasers penetrate occupancy cells. Specifically, this node chooses some particles at a rate of `extraction_rate` and checks each of them with the following procedure: * maps a set of laser scan on the occupancy grid map based on the pose of the particle * judges the pose of the particle as wrong if all of lasers in a `range_threshold`[rad] range penatrate occupancy grids If the rate of the wrong particles is greater than `alpha_threshold`, the node invokes a reset. This node also has a sensor resetting algorithm. When `sensor_reset` is true, a particle with laser penetration is dragged back from occupied cells. #### Subscribed Topics | Name | Type | Description | | :---------- | :-------------------------------------- | :-------------------------------- | | `map` | [`nav_msgs/OccupancyGrid`](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/OccupancyGrid.html) | occupancy grid map | | `scan` | [`sensor_msgs/LaserScan`](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/LaserScan.html) | laser scans | | `tf` | [`tf/tfMessage`](http://docs.ros.org/en/noetic/api/tf/html/msg/tfMessage.html) | transforms | | `initialpose` | [`geometry_msgs/PoseWithCovarianceStamped`](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html) | pose of particles for replacement | #### Published Topics | Name | Type | Description | | ------------- | --------------------------------------- | --------------------------------------------------------------------------------------- | | `mcl_pose` | [`geometry_msgs/PoseWithCovarianceStamped`](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html) | the mean pose of the particles with covariance | | `particlecloud` | [`geometry_msgs/PoseArray`](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseArray.html) | poses of the particles | | `tf` | [`tf/tfMessage`](http://docs.ros.org/en/noetic/api/tf/html/msg/tfMessage.html) | the transform from odom (which can be remapped via the odom_frame_id parameter) to map | | `alpha` | [`std_msgs/Float32`](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html) | marginal likelihood of particles after sensor update | #### Parameters | Name | Type | Default | Description | |-------------------------------|---------|------------|--------------------------------------------------------------------| | `odom_freq` | `int` | 20 [Hz] | frequency of odometry update | | `num_particles` | `int` | 500 | number of particles | | `odom_frame_id` | `string` | "odom" | the frame for odometry | | `footprint_frame_id` | `string` | "base_footprint" | the frame of the localized robot's base | | `base_frame_id` | `string` | "base_link" | the frame of the robot's base. It is used for calculating the position and orientation of the LiDAR | | `global_frame_id` | `string` | "map" | the frame for localization | | `initial_pose_x` | `double` | 0.0 [m] | initial x coordinate of particles | | `initial_pose_y` | `double` | 0.0 [m] | initial y coordinate of particles | | `initial_pose_a` | `double` | 0.0 [rad] | initial yaw coordinate of particles | | `odom_fw_dev_per_fw` | `double` | 0.19 [m/m] | standard deviation of forward motion noise by forward motion | | `odom_fw_dev_per_rot` | `double` | 0.0001 [m/rad] | standard deviation of forward motion noise by rotational motion | | `odom_rot_dev_per_fw` | `double` | 0.13 [rad/m] | standard deviation of rotational motion noise by forward motion | | `odom_rot_dev_per_rot` | `double` | 0.2 [rad/rad] | standard deviation of rotational motion noise by rotational motion | | `laser_likelihood_max_dist` | `double` | 0.2 meters | maximum distance to inflate occupied cells on the likelihood field map | | `scan_increment` | `int` | 1 | increment number when beams are picked from their sequence | | `alpha_threshold` | `double` | 0.5 | threshold of the alpha value for expansion resetting | | `open_space_threshold` | `double` | 0.05 | threshold of the valid beam rate for expansion resetting | | `expansion_radius_position` | `double` | 0.1 [m] | maximum change of the position on the xy-plane when the reset replaces a particle | | `expansion_radius_orientation` | `double` | 0.2 [rad] | maximum change of the yaw angle when the reset replaces a particle | | `extraction_rate` | `double` | 0.1 | rate of particles that are checked by the node | | `range_threshold` | `double` | 0.3 [rad] | threshold of the range of lasers | | `sensor_reset` | `bool` | true | flag for sensor resettings | The followings have never been implemented yet. | Name | Type | Default | Description | |-------------------|--------|------------------|-----------------------------------------------------------| | `laser_min_range` | `double` | 0.0 [m] | threshold for discarding scans whose ranges are smaller than this value | | `laser_max_range` | `double` | 100000000.0 [m] | threshold for discarding scans whose ranges are larger than this value | ## To do * Implement service * Fix a bug that caused particles to survive ## citation [^1]: R. Ueda: "[Syokai Kakuritsu Robotics (lecture note on probabilistic robotics)](https://www.amazon.co.jp/dp/B082SN3VTD)," Kodansya, 2019. [^2]: R. Ueda, T. Arai, K. Sakamoto, T. Kikuchi, S. Kamiya: Expansion resetting for recovery from fatal error in Monte Carlo localization - comparison with sensor resetting methods, IEEE/RSJ IROS, pp.2481-2486, 2004.
