Local SLAM also creates the local trajectory. It executes loop closure by scan matching scans of sensor data against the submaps. It also incorporates other sensors to attempt to get the most consistent global solution.
The primary input to the cartographer SLAM algorithm are distance measurements which are computed from range finding sensors such as lidar sensors or radars. These sensors inherently have noise, so the first data processing step is to apply a bandpass filter to remove measurements outside of a minimum and maximum range threshold. These values are derived from the physical characteristics of the specific sensors used.
High-resolution lidar sensors like the OS produce a large number of measurements which can slow down computation time. To address the point density problem, Cartographer uses a voxel filter that downsamples raw points into cubes of a constant size and only keeps the centroid of each cube. Cartographer applies an adaptive voxel filter which tries to determine the optimal voxel size to achieve a target number of points. After the data is filtered, the local SLAM algorithm inserts the scan into the current submap via scan matching.
This process uses an initial guess from the pose extrapolator algorithm which uses other sensors to make an initial prediction of where the scan should be inserted into the submap. The CeresScanMatcher typically preferred. It is fast but cannot fix errors that are significantly larger than the resolution of the submaps. The RealTimeCorrelativeScanMatcher is very expensive and will essentially override any signal from other sensors but the range finder, but it is robust in feature-rich environments.
Once a scan match is computed, a motion filter ensures that only scans resulting from significant motion based on distance, angle or time are included in the submap. A submap is considered as complete when the local SLAM has received a given amount of range data. The local SLAM algorithm stores the submaps and their range data in a data structure known as a probability grid. The global SLAM algorithm takes the submaps and attempts to rearrange them so that they form a coherent global map.
This is a type of GraphSLAM, a pose graph optimization which works by building constraints between nodes and submaps and then optimizing the resulting constraints graph. When a node and a submap are considered for constraint building, they go through a first scan matcher called the FastCorrelativeScanMatcher.
Once the FastCorrelativeScanMatcher has a good enough proposal above a minimum score of matching , it is then fed into a Ceres Scan Matcher to refine the pose. For more detailed information on the algorithms involved, see the Algorithm walkthrough for tuning page.
A detailed description of the development of the simulated sensor is available here. Last, we will use the WillowGarage world as the simulated environment to operate the system and create the map. A sample image of the OS mounted on the racecar platform in the WillowGarage Gazebo environment is below:. The first file defined is a. The robot configuration is read from a options data structure that must be defined from a Lua script.
First, we will define the TF frame IDs of the environment and the robot. These coordinate frames are defined in REP This frame publishes the non-loop-closed local SLAM result. We will be inputting the OS lidar data as a 2D laser scan. There is one global variable that needs to be configured based on the sensor properties. Explanations for the remaining values are detailed in the Lua configuration reference documentation. This link has two children.
The specific rotations and translations between the components are also defined in the. These dimensions are taken from the OS1 Datasheet. The recommended usage of Cartographer is to provide a custom. For this simulation, we will be doing 2D slam with simulated IMU and laser scan data as inputs. We also remap the IMU and laser scan data from their default topics to the topics output by the simulated robot and OS-1 sensor. Generating the map is expensive and slow, so map updates are in the order of seconds.
This file loads the simulation as well as all the relevant supporting ROS nodes to produce the required data for Cartographer to function. The first portion of the file defines default values for several parameters that can be used to customize the simulation.
These values can be overwritten via the command line when launching the simulation. In my case, I chose to retry the install again. I chose to repair instead of attempting the manual fix because this is merely artwork being reinstalled. Evidence found in the forums also led me to believe this would solve the problem. This is strikingly similar to the problem described above for DD3. I used the same fix and it worked for me. CC3 with Update 11 will launch! Did you run into any problems? Was this helpful at all?
You saved my butt! I was having the above errors and worked all day to fix it before coming across this page which finally got me my answer. Thanks so much! Glad to help. This site uses Akismet to reduce spam. Learn how your comment data is processed. Why Install CC3? You are looking for a way to speed up map creation. Login and Register This is the most complex part of the install.
Be sure to use the same one you provided when you purchased your software from ProFantasy. Provide your first name, last name, a strong password and your mailing address details. Verify the displayed email address is correct.
Get Serial Numbers Finding your serial numbers once you are logged in depends on whether or not you are registered and where you purchased your software from. Alternatively, you could leave this page open while you download and install your software so you can copy and paste the number directly from this page. I record the serial numbers and keep them with the software downloads so that if, for some reason, I need or want to reinstall the software I can do so without having to be online.
The serial numbers needed for install are available from your registration page The process is a bit more varied if you purchased from your local gaming store or through an online retailer such as Rpgnow. If you purchased from an online retailer other than ProFantasy, the serial numbers should have been provided to you in an email when you ordered.
If you cannot find the serial numbers, please contact ProFantasy. A dialog box similar to this one will pop-up listing the files available for download. Campaign Cartographer 3 Product Bundle Exposed! For Campaign Cartographer 3, download the following items: Required.
Setup program version 3. CC3 Update 11 update to version 3. User Guide. Essentials booklet PDF. For Dungeon Designer 3, download the following items: Required.
Setup program. Vista and Windows 7 corridor fix Bug patch. We may not need it. For City Designer 3, download the following items: Required. Ultra high resolution artwork Better symbols! Menu fix Bug patch. The base port can be changed in the halo2configX. Currently, there is no way to invite or block people from joining.
Once all players have joined, the host can close the lobby through the quick options menu. Each client that is behind the same external IP needs to have a different port setting. Run halo2. If that doesn't solve the issue, see this thread.
Download and install the DirectX Runtime. Download and install the Media Feature Pack for your version of Windows.
Right Click halo2. May improve the game performance. Replace X with monitor number found in Windows Display Settings -nosound -Switch to run the game without audio.
See this thread For higher resolutions, switch to windowed mode through the in-game video settings page, and maximize the window to fill your screen Halo 2 has issues above 60 fps, it is not recommended to go above this. This is due to driver bugs in Intel HD Graphics, see this thread for more info. Modern graphics cards run the game at fps which is not supported at all by the game engine. On Windows 10, go to exe properties, click the "Compatibility" tab and disable full screen optimizations Set compatibility mode to "Windows Vista Service Pack 2" this will break reshade mod Assign CPU affinity of halo2.
You must have irrefutable video proof with usernames visible. Please make a post in the reports section. We recommend you use Durazno. Pre-made config files can be found here. Cartographer game variants are enabled by creating a game variant Slayer template with the Cartographer variant name included. Be sure there are no weapons on map, no vehicles, and no team changing allowed.
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