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[ROS][feat] Click to get loop closure indices

Tong Fu requested to merge ROS/feat/GetLoopIndices into master


Before, loop closure indices are provided by a csv file. It's difficult to know loop closure indices before a slam map is built. This MR aims to give a simple way to obtain loop indices for users:

  • In rviz, click a point on the trajectory which is considered as the loop frame of the current frame.
    • Play slam and stop the bag when a loop closure is observed.
    • Click the position where forms a loop with current position
    • the current pose and the closest pose to clicked point are added into LoopDetections


  • Some refacts and fixes
  • Add ClickedPointCallback function




  • data 1: car(hesai)
  • data 2: Acquisition_SIDO/outdoor


catkin_make -j --cmake-args -DCMAKE_BUILD_TYPE=Release -DENABLE_g2o=ON

Launch file

  • Use `slam_velodyne.launch' but comment velodyne points conversion part.
  • change "velodyne" to "hesai" in tf_base_to_velo_node


  • change the parameters:
  • loop_closure.enable_offset: true
  • n_threads: 4
  • distance_threshold: 0.1
  • leaf_size.edges: 0.1
  • leaf_size.planes: 0.1
  • decaying_threshold: 900
  • min_frames_per_voxel: 0
  • voxel_grid_resolution: 1.
  • neighbors_radius: 0.05
  • edge_depth_gap_threshold: 2.
  • edge_nb_gap_points: 20


rosrun lidar_conversions generic_conversion_node \
roslaunch lidar_slam slam_velodyne.launch \
rosbag play --clock path/to/bag /hesai/pandar:=/generic_points

What remains to solve

  • Parse CSV, see MR !364 (merged)
  • Bring features in ros2_wrapping


  • Camel case everywhere except for ROS variables/parameters
  • Lower case for local variables and lambda functions
  • Upper case for pour members, methods and tool functions (in Utils)
  • Precise namespace when calling a function (or this->X or classe.X)
  • Align code (for multiline if and while, "&&" or "||" go in upper line to ensure alignement)
  • Space between if, while, for and parenthesis
  • Space between operators and variables: e.g. a + b
  • Space after ","
  • Mind your commit titles/desc (plurals, he/she + "s", correct tags, title should begin by a verb...)
  • Function names should start with a verb, variable names should start with a name
  • Macros should be between {}
  • Do not use negative boolean (i.e. noJoe)
  • Check minimal size of the types (double -> float -> int -> uint)
  • Check const and ref in functions arguments
  • References should be written "type& name", not "type &name"
  • Update documentation if needed
  • Add MR labels [ROS]/[ROS2]/[PV]
  • If ros/ros2, update task table here
  • Add a comment over each non trivial function in header files
  • Adda header to each new file
Edited by Tong Fu

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