Extract parameters from slam_gmapping.cpp to slam_gmapping_params.yaml to be configurable

README.md

@@ -2,7 +2,7 @@
 
 SLAM(Simultaneous Localization and Mapping) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.
 
-This contains package ```openslam_gmapping``` and ```slam_gmapping``` which is a ROS2 wrapper for OpenSlam's Gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.
+This contains package ``openslam_gmapping`` and ``slam_gmapping`` which is a ROS2 wrapper for OpenSlam's Gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.
 
 ## Launch:
 
@@ -12,6 +12,38 @@ ros2 launch slam_gmapping slam_gmapping.launch.py
 
 The node slam_gmapping subscribes to sensor_msgs/LaserScan on ros2 topic ``scan``. It also expects appropriate TF to be available.
 
-It publishes the nav_msgs/OccupancyGrid on ``map``. 
+It publishes the nav_msgs/OccupancyGrid on ``map``.
 
 Map Meta Data and Entropy is published on ``map_metadata`` and ``entropy`` respectively.
+
+
+## Test with turtlebot3:
+
+#### Install Nav2 packages
+
+```bash
+sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
+sudo apt install ros-humble-turtlebot3*
+```
+
+
+
+#### Launch
+
+```
+ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
+```
+
+```
+ros2 launch slam_gmapping slam_gmapping.launch.py
+
+ros2 run rviz2 rviz2 -d ~/slam_gmapping/gmapping.rviz
+```
+
+you can use explore lite ore teleop
+
+```
+ros2 run turtlebot3_teleop teleop_keyboard
+```
+![dynamic transform](slam_gmapping/media/gmapping_test.gif)

gmapping.rviz

@@ -0,0 +1,163 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 617
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: map_updates
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /local_costmap/costmap
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /local_costmap/costmap_updates
+      Use Timestamp: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 15.735194206237793
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.3253974914550781
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.025398634374141693
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b5000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000001e0000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 3321
+  Y: 113

slam_gmapping/include/slam_gmapping/slam_gmapping.h

@@ -88,7 +88,7 @@ class SlamGmapping : public rclcpp::Node{
 
     bool got_map_;
     nav_msgs::msg::OccupancyGrid map_;
-
+    double map_update_interval_double_; //to recieve double from yaml file 
     tf2::Duration map_update_interval_;
     tf2::Transform map_to_odom_;
     std::mutex map_to_odom_mutex_;

slam_gmapping/launch/slam_gmapping.launch.py

@@ -1,12 +1,28 @@
 from launch import LaunchDescription
-from launch.substitutions import EnvironmentVariable
-import launch.actions
 import launch_ros.actions
-
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
 
 def generate_launch_description():
-    use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time', default='true')
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    param_file = LaunchConfiguration('param_file', default='slam_gmapping/param/slam_gmapping_params.yaml')
+
     return LaunchDescription([
+        DeclareLaunchArgument(
+            'param_file',
+            default_value='slam_gmapping/param/slam_gmapping_params.yaml',
+            description='Path to the YAML file with parameters relative to the package'
+        ),
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='true',
+            description='Use simulation time if true'
+        ),
+
         launch_ros.actions.Node(
-            package='slam_gmapping', node_executable='slam_gmapping', output='screen', parameters=[{'use_sim_time':use_sim_time}]),
+            package='slam_gmapping',
+            executable='slam_gmapping',
+            output='screen',
+            parameters=[param_file, {'use_sim_time': use_sim_time}],
+        ),
     ])

slam_gmapping/param/slam_gmapping_params.yaml

@@ -0,0 +1,39 @@
+slam_gmapping:
+  ros__parameters:
+    throttle_scans: 1
+    base_frame: "base_link"
+    map_frame: "map"
+    odom_frame: "odom"
+    transform_publish_period: 0.05
+    map_update_interval: 0.5
+    maxUrange: 80.0
+    maxRange: 0.0
+    minimum_score: 0.0
+    sigma: 0.05
+    kernelSize: 1
+    lstep: 0.05
+    astep: 0.05
+    iterations: 5
+    lsigma: 0.075
+    ogain: 3.0
+    lskip: 0
+    srr: 0.1
+    srt: 0.2
+    str: 0.1
+    stt: 0.2
+    linearUpdate: 1.0
+    angularUpdate: 0.5
+    temporalUpdate: 1.0
+    resampleThreshold: 0.5
+    particles: 30
+    xmin: -10.0
+    ymin: -10.0
+    xmax: 10.0
+    ymax: 10.0
+    delta: 0.05
+    occ_thresh: 0.25
+    llsamplerange: 0.01
+    llsamplestep: 0.01
+    lasamplerange: 0.005
+    lasamplestep: 0.005
+    tf_delay: 0.05