sl-perception
9341e9d986
- Add saltybot_mapping package: MapDatabase, MapExporter, MapManagerNode - 6 ROS2 services: list/save_as/load/delete maps + export occupancy/pointcloud - Auto-save current.db every 5 min; keep last 5 autosaves; warn at 2 GB - Update rtabmap_params.yaml: database_path, Mem/InitWMWithAllNodes=true, Rtabmap/StartNewMapOnLoopClosure=false (multi-session persistence by default) - Update slam_rtabmap.launch.py: remove --delete_db_on_start, add fresh_start arg (deletes DB before launch) and database_path arg (load named map) - CLI tools: backup_map.py, export_map.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
111 lines
6.4 KiB
YAML
111 lines
6.4 KiB
YAML
# RTAB-Map configuration — Jetson Orin Nano Super
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#
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# Hardware context: 67 TOPS, 1024-core Ampere GPU, 8GB RAM
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# All Nano-era constraints (2Hz cap, 400 features, no 3D) removed.
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#
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# Sensor inputs:
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# /scan LaserScan from RPLIDAR A1M8 ~5.5 Hz
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# /camera/color/image_raw RGB from RealSense D435i 30 Hz
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# /camera/depth/image_rect_raw Depth from D435i 30 Hz
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# /camera/color/camera_info Camera intrinsics 30 Hz
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#
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# Outputs:
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# /rtabmap/map OccupancyGrid (2D occupancy)
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# /rtabmap/cloud_map PointCloud2 (3D point cloud, enabled)
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# /rtabmap/odom Odometry (visual-inertial odometry)
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# /rtabmap/mapData Map data for serialization/loop closure
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#
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# Frame assumptions (match sensors.launch.py static TF):
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# map → odom → base_link → laser
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# → camera_link
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rtabmap:
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ros__parameters:
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# ── Core rate and timing ───────────────────────────────────────────────────
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# Process at 10Hz — far below D435i 30fps ceiling, still 5x faster than Nano
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Rtabmap/DetectionRate: "10"
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# No processing time limit — Orin has headroom (Nano was 700ms)
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Rtabmap/TimeThr: "0"
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# Update map every 5cm or ~3° rotation (was 10cm / 5°)
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RGBD/LinearUpdate: "0.05"
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RGBD/AngularUpdate: "0.05"
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# ── Visual features ────────────────────────────────────────────────────────
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# 1000 ORB features per frame (Nano was 400)
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Kp/MaxFeatures: "1000"
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Vis/MaxFeatures: "1000"
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# ── Memory ────────────────────────────────────────────────────────────────
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# Unlimited short-term memory — 8GB RAM (Nano was 30 keyframes)
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Mem/STMSize: "0"
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# Keep full map in working memory
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Mem/IncrementalMemory: "true"
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# ── Map generation ────────────────────────────────────────────────────────
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# 3D occupancy grid enabled — Ampere GPU handles point cloud generation
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Grid/3D: "true"
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Grid/CellSize: "0.05" # 5cm voxels
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Grid/RangeMin: "0.3" # ignore points closer than 30cm
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Grid/RangeMax: "8.0" # clip at A1M8 reliable range
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# ── Sensor subscriptions ──────────────────────────────────────────────────
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# Subscribe to both RPLIDAR scan (fast 2D) and D435i depth (3D)
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subscribe_scan: "true"
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subscribe_rgbd: "true"
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subscribe_odom_info: "false"
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# ── Loop closure ──────────────────────────────────────────────────────────
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# More aggressive loop closure — Orin can handle it
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RGBD/LoopClosureReextractFeatures: "true"
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Kp/IncrementalFlann: "true"
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# ── Odometry ──────────────────────────────────────────────────────────────
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# Use F2M (frame-to-map) visual odometry — more accurate on Orin
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Odom/Strategy: "0" # 0=F2M, 1=F2F
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Odom/ResetCountdown: "1"
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OdomF2M/MaxSize: "2000"
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# ── RGBD node input topics ─────────────────────────────────────────────────
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rgb_topic: /camera/color/image_raw
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depth_topic: /camera/depth/image_rect_raw
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camera_info_topic: /camera/color/camera_info
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depth_camera_info_topic: /camera/depth/camera_info
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scan_topic: /scan
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# ── Output ────────────────────────────────────────────────────────────────
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# Publish 3D point cloud map
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cloud_output_voxelized: "true"
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cloud_voxel_size: "0.05" # match Grid/CellSize
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# ── Persistence + Multi-session (Issue #123) ───────────────────────────
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# Database path — persistent storage on NVMe.
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# Do NOT use --delete_db_on_start; fresh_start:=true at launch clears it.
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database_path: "/mnt/nvme/saltybot/maps/current.db"
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# On startup, load ALL previously mapped nodes into working memory.
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# This enables relocalization: RTAB-Map matches incoming frames against
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# the full prior map before adding new keyframes.
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Mem/InitWMWithAllNodes: "true"
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# Append new data to the existing map across sessions (multi-session).
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# RTAB-Map will attempt loop closure against prior-session keyframes.
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Rtabmap/StartNewMapOnLoopClosure: "false"
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# ── Memory management ─────────────────────────────────────────────────
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# Prune near-duplicate keyframes (rehearsal): merge if similarity > 0.6.
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# Reduces DB size without losing map coverage.
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Mem/RehearsalSimilarity: "0.6"
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# Maximum nodes retrieved from long-term memory per iteration.
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# Limits CPU/RAM during large-map loop closure searches.
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Rtabmap/MaxRetrieved: "50"
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# Transfer nodes from short-term to long-term memory when STM > this limit.
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# 0 = unlimited STM; set a limit to bound RAM use on very long sessions.
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# At ~1 keyframe/5cm, 5000 nodes ≈ 250m of travel before LTM transfer begins.
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Mem/STMSize: "0" # keep unlimited for Orin 8GB RAM
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# ── Keyframe pruning ──────────────────────────────────────────────────
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# Remove keyframes that have been rehearsed and are no longer needed.
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Mem/RehearsedNodesKept: "false" # discard rehearsed nodes to save space
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