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jaiveersinghNVjaiveersinghNV
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Update localizer parameters
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5 files changed

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‎README.md‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -240,15 +240,17 @@ ros2 launch isaac_ros_occupancy_grid_localizer isaac_ros_occupancy_grid_localize
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| `map_yaml_path` | `std::string` | `""` | Absolute path to the map yaml file. From which we load the `resolution` and `occupied_thresh` |
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| `max_points` | `int` | `20000` | Maximum number of points in FlatScan Message that can be received used to pre-allocate GPU memory. |
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| `robot_radius` | `double` | `0.25` | The radius of the robot. This parameter is used to exclude poses which are too close to an obstacle.memory. |
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| `min_output_error` | `double` | `0.22` | The minimal output error used to normalize and compute confidence, if output error from best sample smaller or equal to this, the confidence is 1 |
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| `max_output_error` | `double` | `0.35` | The max output error from our best sample, if output error larger than this threshold, we conclude localization failed |
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| `max_beam_error` | `double` | `0.5` | The maximum beam error used when comparing range scans. |
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| `num_beams_gpu` | `int` | `512` | The GPU accelerated scan-and-match function can only handle a certain number of beams per range scan. The allowed values are {32, 64, 128, 256, 512}. If the number of beams in the range scan does not match this number a subset of beams will be taken. |
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| `batch_size` | `int` | `512` | This is the number of scans to collect into a batch for the GPU kernel. Choose a value which matches your GPU well. |
248+
| `sample_distance` | `double` | `0.1` | Distance between sample points in meters. The smaller this number, the more sample poses will be considered. This leads to a higher accuracy and lower performance. |
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| `out_of_range_threshold` | `double` | `100.0` | Points range larger than this threshold will be marked as out of range and not used. |
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| `invalid_range_threshold` | `double` | `0.0` | Points range smaller than this threshold will be marked as invalid and not used. |
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| `min_scan_fov_degrees` | `double` | `270.0` | Minimal required scan fov to run the localizer. |
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| `use_closest_beam` | `bool` | `true` | Whether or not pick the closest angle beam in angle bucket, if not pick the average within an angular bucket |
250-
| `min_output_error` | `double` | `0.22` | The minimal output error used to normalize and compute confidence, if output error from best sample smaller or equal to this, the confidence is 1 |
251-
| `max_output_error` | `double` | `0.35` | The max output error from our best sample, if output error larger than this threshold, we conclude localization failed |
253+
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#### ROS Topics Subscribed
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‎isaac_ros_occupancy_grid_localizer/config/occupancy_grid_localizer_node.yaml‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -150,14 +150,16 @@ components:
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occupancy_2d_map_provider: occupancy_2d_map_provider/occupancy_2d_map_provider
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robot_radius: 0.25
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max_beam_error: 0.5
153+
max_output_error: 0.35
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min_output_error: 0.22
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num_beams_gpu: 512
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batch_size: 512
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sample_distance: 0.1
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patch_size: [512, 512]
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out_of_range_threshold: 100.0
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invalid_range_threshold: 0.0
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min_scan_fov_degrees: 270.0
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use_closest_beam: true
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min_output_error: 0.22
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max_output_error: 0.35
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---
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name: broadcaster
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components:

‎isaac_ros_occupancy_grid_localizer/include/isaac_ros_occupancy_grid_localizer/occupancy_grid_localizer_node.hpp‎

Lines changed: 13 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -52,9 +52,12 @@ class OccupancyGridLocalizerNode : public nitros::NitrosNode
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OccupancyGridLocalizerNode & operator=(const OccupancyGridLocalizerNode &) = delete;
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55-
// The callback to be implemented by users for any required initialization
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// callback used for overiding gxf parameters
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void postLoadGraphCallback() override;
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58+
// callback used for overiding gxf parameters that is not supported by gxf functions
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void preLoadGraphCallback() override;
60+
5861
void GridSearchLocalizationCallback(
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const std::shared_ptr<std_srvs::srv::Empty::Request>,
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std::shared_ptr<std_srvs::srv::Empty::Response>);
@@ -97,13 +100,22 @@ class OccupancyGridLocalizerNode : public nitros::NitrosNode
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const double robot_radius_;
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// The maximum beam error used when comparing range scans.
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const double max_beam_error_;
103+
// The max output error from our best sample, if output error larger than this threshold, we
104+
// conclude localization failed
105+
const double max_output_error_;
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// The minimal output error used to normalize and compute confidence, if output error from best
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// sample smaller or equal to this, the confidence is 1
108+
const double min_output_error_;
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// The GPU accelerated scan-and-match function can only handle a certain number of beams per
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// range scan. The allowed values are {32, 64, 128, 256, 512}. If the number of beams in the
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// range scan does not match this number a subset of beams will be taken.
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const int num_beams_gpu_;
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// This is the number of scans to collect into a batch for the GPU kernel. Choose a value which
105114
// matches your GPU well.
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const int batch_size_;
116+
// Distance between sample points in meters. The smaller this number, the more sample poses
117+
// will be considered. This leads to a higher accuracy and lower performance.
118+
const double sample_distance_;
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// Points range larger than this threshold will be marked as out of range and not used.
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const double out_of_range_threshold_;
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// Points range smaller than this threshold will be marked as invalid and not used.
@@ -113,12 +125,6 @@ class OccupancyGridLocalizerNode : public nitros::NitrosNode
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// Whether or not pick the closest angle beam in angle bucket, if not pick the average within an
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// angular bucket
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const bool use_closest_beam_;
116-
// The minimal output error used to normalize and compute confidence, if output error from best
117-
// sample smaller or equal to this, the confidence is 1
118-
const double min_output_error_;
119-
// The max output error from our best sample, if output error larger than this threshold, we
120-
// conclude localization failed
121-
const double max_output_error_;
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123129
unsigned int map_png_height_;
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std::shared_ptr<tf2_ros::TransformListener> tf_listener_;

‎isaac_ros_occupancy_grid_localizer/src/occupancy_grid_localizer_node.cpp‎

Lines changed: 13 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -139,14 +139,15 @@ OccupancyGridLocalizerNode::OccupancyGridLocalizerNode(const rclcpp::NodeOptions
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use_gxf_map_convention_(declare_parameter<bool>("use_gxf_map_convention", false)),
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robot_radius_(declare_parameter<double>("robot_radius", 0.25)),
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max_beam_error_(declare_parameter<double>("max_beam_error", 0.5)),
142+
max_output_error_(declare_parameter<double>("max_output_error", 0.35)),
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min_output_error_(declare_parameter<double>("min_output_error", 0.22)),
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num_beams_gpu_(declare_parameter<int>("num_beams_gpu", 512)),
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batch_size_(declare_parameter<int>("batch_size", 512)),
146+
sample_distance_(declare_parameter<double>("sample_distance", 0.1)),
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out_of_range_threshold_(declare_parameter<double>("out_of_range_threshold", 100.0)),
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invalid_range_threshold_(declare_parameter<double>("invalid_range_threshold", 0.0)),
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min_scan_fov_degrees_(declare_parameter<double>("min_scan_fov_degrees", 270.0)),
147-
use_closest_beam_(declare_parameter<bool>("use_closest_beam", true)),
148-
min_output_error_(declare_parameter<double>("min_output_error", 0.22)),
149-
max_output_error_(declare_parameter<double>("max_output_error", 0.35))
150+
use_closest_beam_(declare_parameter<bool>("use_closest_beam", true))
150151
{
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RCLCPP_DEBUG(get_logger(), "[OccupancyGridLocalizerNode] Constructor");
152153

@@ -379,6 +380,15 @@ void OccupancyGridLocalizerNode::LocResultNitrosSubCallback(
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*pose_handle = ros_map_origin_transform * ros_pose_isaac_transform * (*pose_handle);
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}
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383+
void OccupancyGridLocalizerNode::preLoadGraphCallback()
384+
{
385+
RCLCPP_INFO(get_logger(), "[OccupancyGridLocalizerNode] preLoadGraphCallback().");
386+
// Setting gxf parameters not supported by gxf functions
387+
NitrosNode::preLoadGraphSetParameter(
388+
"binary_occupancy_map_loader", "nvidia::isaac::OccupancyGridMap", "sample_distance",
389+
std::to_string(sample_distance_));
390+
}
391+
382392
void OccupancyGridLocalizerNode::postLoadGraphCallback()
383393
{
384394
RCLCPP_DEBUG(get_logger(), "[OccupancyGridLocalizerNode] postLoadGraphCallback().");

‎isaac_ros_occupancy_grid_localizer/test/isaac_ros_occupancy_grid_localizer_pol_test.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -31,8 +31,8 @@
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import rclpy
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from std_srvs.srv import Empty
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34-
TEST_POS_TOLERANCE = 0.01
35-
TEST_QUAT_TOLERANCE = 0.001
34+
TEST_POS_TOLERANCE = 0.15
35+
TEST_QUAT_TOLERANCE = 0.013
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TEST_COV_TOLERANCE = 0.001
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