test new changes to open3d slam (#62)

* first attempt to make new open3d available

* update slam component in rviz

* update launch files to support new open3d_updates

* fix launch files

* fix arg

* fix path error

* change rviz assembled_map name

* update lidar odometry topic

* fix launch file for localisation

* fix launch files

* add comment

* update docstring for parameter_filename

---------

Co-authored-by: tutuna <tutuna@leggedrobotics.com>
Co-authored-by: Deepana Ishtaweera <dishtaweera@ethz.ch>

smb_msf_graph/README.md

@@ -17,7 +17,7 @@ To build `smb_msf_graph` run
 ```bash
 catkin build smb_msf_graph
 ```
-This will compile all dependencies present in the workspace, including [open3d_slam](https://github.com/leggedrobotics/open3d_slam/tree/robotics_summer_school_2023).
+This will compile all dependencies present in the workspace, including [open3d_slam](https://github.com/ETHZ-RobotX/open3d_slam_advanced_rss_2024).
 
 # Run smb_msf_graph
 ## Run msf_graph with online SLAM

smb_msf_graph/launch/smb_msf_graph.launch

@@ -4,32 +4,33 @@
     <!-- Parameters -->
     <arg name="use_sim_time"                default="false" />
     <arg name="launch_o3d_slam"             default="true" />
-    <arg name="lidar_odometry_topic_name"   default="/mapping_node/scan2map_odometry"/>
+    <arg name="lidar_odometry_topic_name"   default="/mapping/scan2map_odometry"/>
 
     <!-- Arguments -->
 
     <arg name="cloud_topic"           default="/rslidar/points" doc="input topic for the lidar pointcloud"/>
     <arg name="parameter_filename"    default="param_robosense_rs16.lua" doc="param file name"/>
-	<arg name="parameter_folder_path" default="$(find smb_slam)/config/open3d_slam/" doc="directory for the parameter files"/>
     <arg name="launch_rviz"           default="false" doc="whether to launch rviz"/>
     <arg name="launch_sensors"        default="false" doc="whether to launch the sensors on the robot"/>
     <arg name="map_saving_folder"     default="$(find smb_slam)/data/maps/" doc="Path for saving the map"/>
 
     <!-- Alias to smb_estimator_graph replay script -->
     <include file="$(find smb_estimator_graph)/launch/smb_estimator_graph.launch">
         <arg name="use_sim_time" value="$(arg use_sim_time)" />
+        <arg name="lidar_odometry_topic_name" value="$(arg lidar_odometry_topic_name)"/>
     </include>
 
     <group if="$(arg launch_o3d_slam)">
         <!-- Launch online_slam -->
-        <include file="$(find smb_slam)/launch/online_slam.launch">
+        <include file="$(find open3d_slam_ros)/launch/development.launch" if="$(arg launch_o3d_slam)">
+            <arg name="odometry_topic" default="/graph_msf/est_odometry_odom_imu"/>
+            <arg name="assumed_external_odometry_tracked_frame" default="imu"/>
+            <arg name="parameter_folder_path" default="$(find open3d_slam_ros)/param/"/>
+            <arg name="parameter_filename" default="$(arg parameter_filename)"/>
+            <arg name="map_saving_folder" default="$(arg map_saving_folder)"/>
             <arg name="use_sim_time" value="$(arg use_sim_time)" />
-            <arg name="cloud_topic" value="$(arg cloud_topic)" />
-            <arg name="parameter_filename" value="$(arg parameter_filename)" />
-            <arg name="parameter_folder_path" value="$(arg parameter_folder_path)" />
-            <arg name="launch_rviz" value="$(arg launch_rviz)" />
-            <arg name="launch_sensors" value="$(arg launch_sensors)" />
-            <arg name="map_saving_folder" value="$(arg map_saving_folder)" />
+            <arg name="cloud_topic" default="$(arg cloud_topic)"/>
+            <arg name="launch_rviz" default="$(arg launch_rviz)"/>
         </include>
     </group>
 

smb_opc/rviz/smb_vis.rviz

@@ -472,7 +472,7 @@ Visualization Manager:
       Name: PathPlanner
     - Class: rviz/Group
       Displays:
-        - Alpha: 1
+        - Alpha: 0.800000011920929
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
             Max Value: 0.6000000238418579
@@ -492,9 +492,9 @@ Visualization Manager:
           Position Transformer: XYZ
           Queue Size: 10
           Selectable: true
-          Size (Pixels): 3
-          Size (m): 0.10000000149011612
-          Style: Spheres
+          Size (Pixels): 2
+          Size (m): 0.05000000074505806
+          Style: Points
           Topic: /mapping/assembled_map
           Unreliable: false
           Use Fixed Frame: true

smb_slam/README.md

@@ -1,5 +1,5 @@
 # SMB_SLAM
-This package contains a bunch of commodity scripts for running (simultaneous) localization & mapping using [open3d_slam](https://github.com/leggedrobotics/open3d_slam).
+This package contains a bunch of commodity scripts for running (simultaneous) localization & mapping using [open3d_slam](https://github.com/ETHZ-RobotX/open3d_slam_advanced_rss_2024).
 
 Follow instructions the instructions below to build ```smb_slam```.
 

smb_slam/launch/localization.launch

@@ -4,25 +4,26 @@
   <!-- Arguments -->
   <arg name="use_sim_time"          default="false" />
   <arg name="cloud_topic"           default="/rslidar/points"  doc="input topic for the lidar pointcloud"/>
-  <arg name="parameter_filename"    default="param_rs16_localization.lua" doc="param file name"/>
-  <arg name="parameter_folder_path" default="$(find smb_slam)/config/open3d_slam/" doc="directory for the parameter files"/>
+  <arg name="parameter_filename"    default="param_rs16_localization.lua" doc="param file name, pcd file path is set in the parameter file"/> 
+  <arg name="parameter_folder_path" default="$(find open3d_slam_ros)/param/" doc="directory for the parameter files"/>
   <arg name="launch_rviz"           default="false" doc="whether to launch rviz"/>
   <arg name="launch_sensors"        default="false" doc="whether to launch the sensors on the robot"/>
-  <arg name="pcd_file_path"         default="$(find smb_slam)/data/maps/map.pcd" doc="absolute path for loading the map used for localization"/>
   <arg name="map_saving_folder"     default="$(find smb_slam)/data/maps/" doc="Path for saving the map (Won't get updated in this case)"/>
 
   <!-- Potentially launch sensors -->
   <include file="$(find smb)/launch/sensors.launch" if="$(arg launch_sensors)"> </include> 
 
   <!-- Launch Map Builder (open3d_slam) -->
-  <include file="$(find open3d_slam_ros)/launch/mapping.launch">
+  <include file="$(find open3d_slam_ros)/launch/mapping_live.launch">
     <arg name="cloud_topic"           value="$(arg cloud_topic)" />
     <arg name="parameter_folder_path" value="$(arg parameter_folder_path)"/>
     <arg name="parameter_filename"    value="$(arg parameter_filename)"/>
     <arg name="launch_rviz"           value="$(arg launch_rviz)"/>
-    <arg name="pcd_file_path"         value="$(arg pcd_file_path)"/>
     <arg name="map_saving_folder"     value="$(arg map_saving_folder)"/>
     <arg name="use_sim_time"          value="$(arg use_sim_time)" />
+    <arg name="odometry_topic"         value="/graph_msf/est_odometry_odom_imu"/>
+    <arg name="assumed_external_odometry_tracked_frame" default="imu"/>
   </include>
+
 
 </launch>

smb_slam/launch/online_slam.launch

@@ -7,23 +7,23 @@
   <!-- Arguments -->
   <arg name="cloud_topic"           default="/rslidar/points" doc="input topic for the lidar pointcloud"/>
   <arg name="parameter_filename"    default="param_robosense_rs16.lua" doc="param file name"/>
-	<arg name="parameter_folder_path" default="$(find smb_slam)/config/open3d_slam/" doc="directory for the parameter files"/>
   <arg name="launch_rviz"           default="false" doc="whether to launch rviz"/>
   <arg name="launch_sensors"        default="false" doc="whether to launch the sensors on the robot"/>
   <arg name="map_saving_folder"     default="$(find smb_slam)/data/maps/" doc="Path for saving the map"/>
-  <arg name="loop_closure" 				  default="false"	doc="Whether to enable loop closure detection"/>
+
   <!-- Potentially launch sensors -->
   <include file="$(find smb)/launch/sensors.launch" if="$(arg launch_sensors)"/>
 
   <!-- Launch Map Builder (open3d_slam) -->
-  <include file="$(find open3d_slam_ros)/launch/mapping.launch">
+  <include file="$(find open3d_slam_ros)/launch/mapping_live.launch">
     <arg name="cloud_topic"           value="$(arg cloud_topic)" />
     <arg name="parameter_folder_path" value="$(arg parameter_folder_path)"/>
     <arg name="parameter_filename"    value="$(arg parameter_filename)"/>
     <arg name="launch_rviz"           value="$(arg launch_rviz)"/>
     <arg name="map_saving_folder"     value="$(arg map_saving_folder)"/>
     <arg name="use_sim_time"          value="$(arg use_sim_time)"/>
-    <arg name="loop_closure"          value="$(arg loop_closure)"/>
+    <arg name="odometry_topic"         value="/graph_msf/est_odometry_odom_imu"/>
+    <arg name="assumed_external_odometry_tracked_frame" default="imu"/>
   </include>
 
 </launch>