Code Monkey home page Code Monkey logo

robust_multirobot_map_merging's Introduction

Robust Multi-Robot Map Merging

This repository contains an implementation of the robust map merging method presented in

J. G. Mangelson, D. Dominic, R. M. Eustice, and R. Vasudevan, 
“Pairwise Consistent Measurement Set Maximization for Robust Multi-robot Map Merging.”, ICRA 2018.

The purpose of this package is to find a subset of inliers in a large set of inter-robot loop closures. Due to large measurement errors and perceptual aliasing in multi-robot applications, we need a robust method to select which measurements to trust.

Requirements

Example

An example of usage of the libraries is available in the examples/ folder.

Build

  • Clone this repository in the source folder of your ROS workspace.
  • Build using catkin build or catkin_make.

You can also build it normally using cmake.

Try It!

  • Launch with rosrun robust_multirobot_map_merging robust_multirobot_map_merging_node <trajectory robot1 .g2o file> <trajectory robot2 .g2o file> <inter robot loop closures .g2o file>

Some .g2o files are available for testing in the pose_graph_datasets/ folder.

robust_multirobot_map_merging's People

Contributors

lajoiepy avatar

Stargazers

avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar avatar

Watchers

avatar avatar avatar avatar avatar avatar

Forkers

xlicz baicai1990 lfmaster snowcarter bpoebiapl honokame huiyan-dev yangzhengshi dssdyx neelkamal18 supervang kimbeomso

robust_multirobot_map_merging's Issues

catkin_make error

CMake Error at robust_multirobot_map_merging/src/third_parties/SE-Sync/CMakeLists.txt:48 (add_subdirectory):
The source directory

/home/gc/multi_ws/src/robust_multirobot_map_merging/src/third_parties/SE-Sync/Optimization

does not contain a CMakeLists.txt file.

-- Try OpenMP C flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: -fopenmp

Found OpenMP! Turning on support for parallelization

CMake Error at robust_multirobot_map_merging/src/third_parties/SE-Sync/CMakeLists.txt:109 (export):
export given target "Optimization" which is not built by this project.

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found MRPT: 1.5.7
-- Configuring incomplete, errors occurred!
See also "/home/gc/multi_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/gc/multi_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

bugs when run the code of PCM(2018ICRA)

HELLO, when I run the code, some bugs occured as follows:

rosrun robust_multirobot_map_merging robust_multirobot_map_merging_node CSAIL_robot1.g2o CSAIL_robot2.g2o CSAIL_interrobot_loop_closures_outliers.g2o

Construction of local maps from the following files : CSAIL_robot1.g2o,
CSAIL_robot2.g2o,
CSAIL_interrobot_loop_closures_outliers.g2o | Completed (82ms)
Solving global map. not Found!
terminate called after throwing an instance of 'std::length_error'
what(): vector::reserve
已放弃 (核心已转储)

I see this repository is deprecated, see https://github.com/lajoiepy/distributed-mapper, so how can I run the latest code of PCM(2018ICRA) ?

Looking forward to your reply! Thank you very much!

core dumped

Hi,

I built the repo, but when I launched with

rosrun robust_multirobot_map_merging robust_multirobot_map_merging_node CSAIL_robot1.g2o CSAIL_robot2.g2o CSAIL_interrobot_loop_closures.g2o

results were always

---------------------------------------------------------
Construction of local maps from the following files : CSAIL_robot1.g2o, 
CSAIL_robot2.g2o, 
CSAIL_interrobot_loop_closures.g2o | Completed (132ms)
Solving global map. not Found!
terminate called after throwing an instance of 'std::length_error'
  what():  vector::reserve
[1]    15871 abort (core dumped)  ./robust_multirobot_map_merging_node CSAIL_robot1.g2o CSAIL_robot2.g2o

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.