maplab(3) - Localization mode

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1. Preparing a localization map
source ~/maplab_ws/devel/setup.bash 

roscore& rosrun rovioli tutorial_euroc save_folder_loc_map MH_01_easy.bag --optimize_map_to_localization_map
  • save_folder_loc_map: save path of VI map
  • optimize_map_to_localization_map: flag for creating optimized localization map
* A folder named "save_folder_loc_map_localization" will be created in this process.

2. Running ROVIOLI with localization
source ~/maplab_ws/devel/setup.bash
roscore& rosrun rovioli tutorial_euroc_localization save_folder_loc_map_localization save_map_with_localization MH_02_easy.bag
  • tutorial_euroc_localization: localization script
  • save_folder_loc_map_localization: reference map for localization
  • MH_02_easy.bag: A dataset to run, where a live source can also be used.
3. Visualization during ROVIOLI with localization [2]

Useful topics:
# Pose graph 
  • /vi_map_baseframe 
  • /vi_map_landmarks 
  • /vi_map_vertices 
  • /vi_map_edges/viwls 
# Localizer results 
  • /landmark_pairs 
  • /loop_closures 
  • /loopclosure_database 
  • /loopclosure_inliers

4. Check the pose estimates results
rostopic echo /topic_name

Useful topics:
  • /maplab_rovio/T_G_I
  • /maplab_rovio/T_G_M Identity in the case of no localization.
  • /maplab_rovio/T_M_I
  • /maplab_rovio/bias_acc
  • /maplab_rovio/bias_gyro
  • /maplab_rovio/velocity_I
Reference:
[1] https://github.com/ethz-asl/maplab/wiki/Running-ROVIOLI-in-Localization-mode
[2] https://github.com/ethz-asl/maplab/wiki/Running-ROVIOLI-in-VIO-mode
[3] CSDN blog

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