sl-perception
76067d6d89
Adds saltybot_bringup ROS2 package with four launch files: - realsense.launch.py — D435i at 640x480x15fps, IMU unified topic - rplidar.launch.py — RPLIDAR A1M8 via /dev/rplidar udev symlink - sensors.launch.py — both sensors + static TF (base_link→laser/camera) - slam.launch.py — sensors + slam_toolbox online_async (compose entry point) Sensor config YAMLs (mounted at /config/ in container): - realsense_d435i.yaml — Nano power-budget settings (15fps, no pointcloud) - rplidar_a1m8.yaml — Standard scan mode, 115200 baud, laser frame - slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution) Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src (was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory) Topic reference and verification commands in SENSORS.md. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
80 lines
4.5 KiB
YAML
80 lines
4.5 KiB
YAML
# slam_toolbox — online async SLAM configuration
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# Tuned for Jetson Nano 4GB (constrained CPU/RAM, indoor mapping)
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#
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# Input: /scan (LaserScan from RPLIDAR A1M8, ~5.5 Hz)
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# Output: /map (OccupancyGrid, updated every map_update_interval seconds)
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#
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# Frame assumptions (must match sensors.launch.py static TF):
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# map → odom → base_link → laser
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# (odom not yet published — slam_toolbox handles this via scan matching)
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slam_toolbox:
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ros__parameters:
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# ── Frames ───────────────────────────────────────────────────────────────
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odom_frame: odom
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map_frame: map
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base_frame: base_link
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scan_topic: /scan
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mode: mapping # 'mapping' or 'localization'
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# ── Map params ───────────────────────────────────────────────────────────
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resolution: 0.05 # 5 cm/cell — good balance for A1M8 angular res
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max_laser_range: 8.0 # clip to reliable range of A1M8 (spec: 12m)
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map_update_interval: 5.0 # seconds between full map publishes (saves CPU)
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minimum_travel_distance: 0.3 # only update after moving 30 cm
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minimum_travel_heading: 0.3 # or rotating ~17°
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# ── Performance (Nano-specific) ───────────────────────────────────────────
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# Reduce scan processing rate to stay within ~3.5W CPU budget
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minimum_time_interval: 0.5 # max 2 Hz scan processing (A1M8 is ~5.5 Hz)
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transform_timeout: 0.2
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tf_buffer_duration: 30.0
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stack_size_to_use: 40000000 # 40 MB stack
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enable_interactive_mode: false # disable interactive editing (saves CPU)
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# ── Scan matching ─────────────────────────────────────────────────────────
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use_scan_matching: true
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use_scan_barycenter: true
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scan_buffer_size: 10
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scan_buffer_maximum_scan_distance: 10.0
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# ── Loop closure ──────────────────────────────────────────────────────────
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do_loop_closing: true
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loop_match_minimum_chain_size: 10
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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loop_search_maximum_distance: 3.0
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# ── Correlation (coarse scan matching) ───────────────────────────────────
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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# ── Loop search space ─────────────────────────────────────────────────────
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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# ── Response expansion ────────────────────────────────────────────────────
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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use_response_expansion: true
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# ── Penalties (scan matcher quality thresholds) ───────────────────────────
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349 # ~0.2°
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coarse_search_angle_offset: 0.349 # ~20°
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coarse_angle_resolution: 0.0349 # ~2°
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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# ── Solver ────────────────────────────────────────────────────────────────
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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