b. bring up basic packages to start its applications. For commercial support and access to source code, please contact NVIDIA. The following is a map built with RealSense and cartographer: Generally, In order to navigation with the map from SLAM with RealSense, the ros2 navigation stack should be built and ready to use. Re-initialise the workspace with wstool then merge the cartographer_ros.rosinstall file and fetch code for dependencies. Transforms from all incoming sensor data frames to the configured tracking_frame and published_frame must be available. On-robot Software ROS2 kobuki_node (odometry, IMU, TF2 base_link_frame gyro_link_frame, . How to cite us Acceptable time delta between previous and current pair of image frames. Our Nav2 WG has been using a ROS2 ported fork of cartographer_ros for doing SLAM. , driver_node_1,lsx10_1.yaml rviz_nodeROS2, frame_id, ros2 Sensor_msgs/msg/LaserScan, int32 sec,uint32 nanosec,string frame_id, frame_id idframe_id(), frame_idROS, 1.base_link base_linkROS, 2.odom odomworld-fixedodomodomodomodom odomodom, 3.map mapodommapzmapmapmap map map, , 4.earth mapmap mapmapearthmap mapearth, , earth -> map -> odom -> base_link odommapbase_link, mapbase_linkmapbase_linkodombase_linkmapodom, earthmapmap, odomparentmapbase_linkmapodom, odom odomodom, frame_ididlaserlaserID, cartographerROS2, cartographerROS2ROS2launchcartographer.lua.launch.py(ROS2), ros2 launch cartographer_ros filenames.launch Cartographer. This package uses a stereo camera with an IMU to estimate odometry as an input to navigation. So I guess I should clarify, Id really like something that meets these criteria: Basically, something that would be a workhorse for ROS2, always reliable and very good performance, and well-maintained. The localization is based on a laser scan and the odometry of the robot. Generating the map is expensive and slow, so map updates are in the order of seconds. BUT, based on what Im seeing, I believe we need a well-supported, maintained SLAM for ROS2, and Im opening the discussion here for suggestions as to who and what that should be going forward. If anyone knows what is going on with cartographer and whether it is still being supported / maintained, Id love to hear that. I believe all these cons already somewhat make the case for developing a ROS2 SLAM framework. This project provides Cartographer's ROS integration. It also publishes a clock with the advancing sensor data, i.e. I found Cartographer to be a bit more resilient when working with LiDARs that have a relatively slow update rate. Proceedings of the 6th International Conference and Exhibition on Sustainable Energy and Advanced Materials pp 201213Cite as, Part of the Lecture Notes in Mechanical Engineering book series (LNME). The other package that has been ported to ROS2 is slam_toolbox , which is basically slam_karto on steroids - the core scan matcher is the same, but everything else has been rewritten and upgraded. The global SLAM is able to detect shared paths and will merge the maps built by the different robots as soon as it becomes possible. If enabled, prints logs from cuVSLAM library. In addition to results from standard benchmarks, we test loop closure for VSLAM on sequences of over 1000 meters, with coverage for indoor and outdoor scenes. and mapping (SLAM) in 2D and 3D across multiple platforms and sensor Call the node with the --help flag to see these options. Installation of slam_toolbox is super easy: QoS profile for the left and right image subscribers. Exploiting the map generated by Cartographer ROS, Lua configuration reference documentation, Create .launch files for your SLAM scenarios, First-person visualization of point clouds, 2D Cartographer Backpack Deutsches Museum, 3D Cartographer Backpack Deutsches Museum. The goal of TurtleBot3 is to dramatically reduce the size of the platform and lower the price without sacrificing functionality and quality, while offering expandability. Mapping is one of the robot tasks I think new flavors of deep learning could eventually outshine our meaty human brains in, especially since its a non-safety critical task theres alot of leeway it can be given. ros2 launch slam_toolbox online_async_launch.py. Bring up your choice of SLAM implementation. This package depends on specific ROS 2 implementation features that were only introduced beginning with the Humble release. I think Matts goal is to have it committed to and maintained by Google so OR isnt constantly chasing changes in Cartographer/ros1 wrapper that they (probably?) If you set up ROS_DOMAIN_ID for running turtlebot simulation or physical turtlebot, then you need to set the same ROS_DOMAIN_ID here. Ive found reading the standard template library to be easier than that. If your, # device does not provide intensities, please leave, // collate_by_trajectory true Cartographer ID Cartographer , // collate_by_trajectory false Cartographer Cartographer , #=====================cartographer/occupancy_grid_node/rviz_node=================================, # urdf_dir = os.path.join(pkg_share, 'urdf'), # urdf_file = os.path.join(urdf_dir, 'backpack_2d.urdf'). A tag already exists with the provided branch name. You signed in with another tab or window. dont have time or long term resources to do if we can get Google to do it. if you type lsusb the device should also be listed as Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light, allow anyone to read from the device by entering just one of the following two commands depending upon which serial port was found above. Mechanical Engineering Program, Faculty of Engineering, Universitas Sebelas Maret, Surakarta, Central Java, Indonesia. Enable tf broadcaster for odom_frame->base_frame transform. The cartographer_node is the SLAM node used for online, real-time SLAM. IG, I agree that most slam implementations that use deep learning use it as a feature extractor or for one of the specific tasks. Plug the RPLidarA2 into the companion computer and then open up four terminals and in each terminal type: Start mavros as described on the Connecting with ROS page which involves running a command like below: Connect to the flight controller with a ground station (i.e. During that time I always had a feeling of frustration because (choose any, non exhaustive) the framework . I have been thinking about it for a while too and I think that ROS2 now offers pretty much all the basic pieces to build an awesome framework on top, action/srv, components etc. "-configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename cartographer.lua", Google Cartographer SLAM for non-GPS navigation, VIO tracking camera for non-GPS navigation. Multistage distance scheduler means that local pose correction is done by limiting the distance scan of LiDAR and search window with the help of scheduling algorithm. ROS 2 Cartographer 1. Youll get mapping, localization, and lifelong mapping capabilities in complete if I did everything right. If you are seeing Visual tracking is lost. Gmapping for the majority of its life was non-commercial and Karto is GPL. Key points depend on distinctive features in the left and right camera image that can be repeatedly detected with changes in size, orientation, perspective, lighting, and image noise. If diabled, only Visual Odometry is on. Cite This Work. In the following tutorial, cartographer will be used. You can set use_sim_time to True. In preceding work, the multistage distance scheduler was successfully tested in the actual vehicle to map the road in real-time. Left and right images being published are not compressed or encoded. VSLAM can even be used to improve diversity, with multiple stereo cameras positioned in different directions to provide multiple, concurrent visual estimates of odometry. The occupancy_grid_node listens to the submaps published by SLAM, builds an ROS occupancy_grid out of them and publishes it. From the weekly, I finally (one armed, no less motorcycles are dangerous, dont get one) ported slam toolbox to ROS2. unaffected by loop closure) transform between the configured odom_frame and published_frame will be provided. I do realize this is a substantial effort, likely one for a dedicated WG, thus Im only mentioning the idea to see the interest and feedback it gathers. SLAM Toolbox has 50% less code in entirety than Cartographers ROS wrapper. Hardware. Keep the RealSense parallel to the ground, or the tilt of the RealSense may influence the SLAM. The scheduling algorithm manages the SLAM to swap between small scan size (25m) and large scan size (60m) LiDAR at a fixed time during map data collection; thus it can improve performance speed efficiently better than full-sized LiDAR while maintaining the accuracy of full distance LiDAR. One of Cartographer's strength is that its 2D SLAM is aware of the 3D world (it will project a titled LiDAR scan to the horizontal axis). The only non-ported items are related to the rviz plugin and interactive markers which I have tickets open in the appropriate repos. IG, I agree with you when it comes to general perception tasks as it relates to industrial resource constrained non-cloud server robotics. TurtleBot3 - Burger Simulation. # {'use_sim_time': LaunchConfiguration('use_sim_time')}], # sudo apt-cache search apt, ROS2diagnostic_updater,CMake did not find diagnostic_updater. It can be either [TurtleBot] or [Remote PC]. Also does it make sense to simply fork Cartographer and maintain it separately until (if) we see any more activity from the original project (though like, its a Google project so theres every reason to believe that its just dead now). Why is laser data rate in the 3D bags higher than the maximum reported 20 Hz rotation speed of the VLP-16? In ROS2, there was an early port of cartographer, but it is really not maintained. The presented approach optimizes the Local SLAM part in Cartographer to correct local pose based from Ceres scan matcher by integrating scheduling software, which controls the distance of light detection and ranging (LiDAR) sensor and scan matchers search window size. The following table summarizes the per-platform performance statistics of sample graphs that use this package, with links included to the full benchmark output. Our Nav2 WG has been using a ROS2 ported fork of cartographer_ros for doing SLAM. Invert the map_frame->odom_frame transform before broadcasting to the tf tree. It seems like there are quite a few SLAM implementations out there but theyre generally released as part of a conference or academic paper, maintained for a little while, then abandoned. Figure 2: A incomplete map at beginning in the real work setup, Figure 3: A complete map at beginning in the real work setup. VSLAM uses a statistical approach to loop closure that is more compute efficient to provide a real time solution, improving convergence in loop closure. YDLIDAR X2 Cartographer setup. Reading their paper Im in love with their ideas but I cant match that up to the actual code that exists. Startup system of turtleBot and teleoperation, use Cartographer to create a map of environment. This material is based upon work supported by the i-Drive team at Advanced Vehicle System Research Group, Malaysia Japan International Institute of Technology (MJIIT). Cartographer: we have a problem! Check if there are cartographer packages, 3.2.2. Increase the capture framerate from the camera to yield a better tracking result. Attach another terminal to the running container for RViz2. In this project we use Turtlebot 3 along with ROS 2 and Gazebo to explore an unknown csv map, navigate through it and create a map.https://github.com/DaniGarciaLopez/ros2_explorerThe map is created using SLAM with the package Google Cartographer and navigation is achieved with Nav2 package. A tag already exists with the provided branch name. Image + Camera Info Synchronizer message filter queue size. # {'robot_description': robot_desc}. It is an efficient alternative to the occupancy grid node if live updates are not important. Revision c138034d. If there are insufficient key points, this module uses motion sensed with the IMU to provide a sensor for motion, which, when measured, can provide an estimate for odometry. cartographer. cartographer . The frame name associated with the map origin. Cartographer Local SLAM Optimization Using Multistage Distance Scan Scheduler. But Id be happy to start a new thread if people prefer to. In this way the map is fixed and the robot will move relative to it. I also think its a good thing if there are more than one that meet those criteria. Cartographer SLAM for Non-GPS Navigation. Post post edit: I fear we may be leaving the domain of the original discussion. Proceedings of the 6th International Conference and Exhibition on Sustainable Energy and Advanced Materials, https://doi.org/10.1007/978-981-15-4481-1_20, Tax calculation will be finalised during checkout. Cartographer is a system that provides real-time simultaneous localization Therefore let me do so. ROS drop in replacement to gmapping, cartographer, karto, hector, etc featuring a feature complete SLAM build on the robust scan matcher at the heart of Karto that's been souped up and sped up for use in this package. the lidar should appear as /dev/ttyUSB0 or /dev/ttyACM0. Revision 8ea4a146. IEEE Trans Rob 33(5):12551262, Greene WN, Ok K, Lommel P, Roy N (2016) Multi-level mapping: real-time dense monocular SLAM. Therefore, we provide a way to use RealSense for SLAM and navigation. Ive spent some time thinking about that for about a year but never had really the motivation or resources to do it right so I havent even started. A service to set the pose of the odometry frame. This page shows how to setup ROS and Google Cartographer SLAM using an RPLidarA2 lidar to provided a local position estimate for ArduPilot so that it can operate without a GPS. In: IEEE international conference on control system, computing and engineering (ICCSCE), George Town, Krinkin K, Filatov A, Filatov AY, Huletski A, Kartashov D (2018) Evaluation of Modern Laser Based Indoor SLAM Algorithms. You can can selectively include/exclude submaps from frozen (static) or active trajectories with a command line option. If a pair of image frames exceeds the threshold, it might be an indication of frame drop from the source. # executable = 'robot_state_publisher'. Update Elbrus library and performance improvements, Update to be compatible with JetPack 5.0.2, Fast motion causing the motion blur in the frames. I believe I can explain the code fully to another engineer in a single afternoon (in fact I did that for a colleague just a few days ago). Karto nor gmapping provided PR testing or have really been maintained at all in the last 5 years. Isaac ROS Visual Slam expects raw images. However since the framework would essentially organise data and its production, the solving aspect is therefore just another module, possibly one that allows for different formulation. The source codes have been made open source since 2016 and further improved with a wide-open source . Copyright 2022 The Cartographer Authors In: Multi-level mapping: real-time dense monocular SLAM, Stockholm, Konolige K, Grisetti G, Kmmerle R, Burgard W, Limketkai B, Vincent R (2010) Sparse pose adjustment for 2D mapping. (, Remove ceres-solver from cartographer_ros.rosinstall. In: Conference of open innovations association (FRUCT), Jyvaskyla, Tiar R, Lakrouf M, Azouaoui O (2015) FAST ICP-SLAM for a bi-steerable mobile robot in large environments. . These instructions were tested on an NVidia TX2 flashed with APSync and then ROS and MAVROS were installed as described here. [Terminal 3] Attach the 3rd terminal to start the rosbag. Lua configuration reference documentation, Exploiting the map generated by Cartographer ROS, cartographer_ros_msgs/GetTrajectoryStates. Contribute to googlecartographer/point_cloud_viewer development by creating an account on GitHub. As for the initial demo, a simple 2D pose-graph (karto-like) could be implemented. This will streamline your development environment setup with the correct versions of dependencies on both Jetson and x86_64 platforms. Anyone you share the following link with will be able to read this content: Sorry, a shareable link is not currently available for this article. If you don't have turtlebot3 packages, you can install debian packages or from source code. packages to solve this problem: For ground-based robots, it is often sufficient to use 2D SLAM to navigate through the environment. I think theres going to be some structural elements to aid a DL approach, but I think well be seeing effective methods that arent structured so rigidly as graphs in the near term future. By swapping the scan distance of sensor between small and long-range scan, and adaptively limit search size of scan matcher to handle difference scan size, it can improve pose generation performance time around 15% as opposed against fixed scan distance 60m while maintaining similar pose accuracy and large map size. Edit: sorry this is here nor there. You can find this work here and clicking on the image below. a sonar, # array), please find or create a different message, since applications, # will make fairly laser-specific assumptions about this data, # timestamp in the header is the acquisition time of, # in frame frame_id, angles are measured around, # the positive Z axis (counterclockwise, if Z is up), # with zero angle being forward along the x axis, # angular distance between measurements [rad], # time between measurements [seconds] - if your scanner, # is moving, this will be used in interpolating position, # (Note: values < range_min or > range_max should be discarded), # intensity data [device-specific units]. IG, I think its hard for even something like an RNN or similar to have the memory to accurately accumulate data as to remove structure emposed by a graph or tree. OR install each of these individual packages (this list is not yet complete): Install the RPLidar node in the workspace. If those 4 pieces are sufficiently abstracted the choice of hardware should be meaningless as long as folks can supply 1 and 3, I think (Im not very good at this stuff so maybe theres nuance Im missing). Different options meet different bullets. Building in build farm as we speak and should be installable in the next dashing sync. 3D SLAM using Rtabmap: GitHub - introlab/rtabmap_ros at ros2. Springer, Singapore. @ruffsl - thanks for the info on the point cloud repo. We are keen to improve ArduPilots support of ROS so if you find issues (such as commands that do not seem to be supported), please report them in the ArduPilot issues list with a title that includes ROS and we will attempt to resolve them as quickly as possible. This package provides Cartographer's ROS integration. Bhd., for their knowledge sharing and suggestions to improve researches quality. Trail of poses generated by pure Visual Odometry. Notice that I am not suggesting to re-implement karto, or cartographer, or ORB-SLAM but a framework organizing the data-flow much like navigation2 with defined API, base classes and tooling. Show. You can find information about contributing to Cartographer's ROS integration I would like very much so to have gmapping die in ROS1, its really past its prime by really any other available option. configurations. I do agree with you that machine learning is growing in SLAM. I think Cartographer is a reasonable option regardless. is too task specific, 2D-only/vision-only etc. The main problem in mobile robotics is localization and mapping. In this context Im not worried about fitting those algorithms. If enabled, landmark pointcloud will be available for visualization. It does not listen on any topics, instead it reads TF and sensor data out of a set of bags provided on the commandline. Built with Sphinx using a theme provided by Read the Docs. This method, known as VIO (visual-inertial odometry), improves estimation performance when there is a lack of distinctive features in the scene to track motion visually. For consistency, the integer code is equivalent to the status codes used in the gRPC API. @smac - Im not excluding your slam toolbox as the potential right solution, just trying to clarify what I think requirements are. The following hints help you to create a nice map: In the left menu of RViz you can see several display modules. Make sure it provides the map->odom transform and /map topic. This also assumes graph slam remains the flavor of the day, which I think will be true for awhile, but has to be extendable beyond it as well if we want it to be useful into the general future. Im not even sure that repo is being maintained anymore, based on the last commit having been back in May. Dear ROS 1/2 programmers, engineers and enthusiasts! Most SLAM/VIO/VSLAM/LOAM implementations seem to ultimately come down to. If all is working, vision position estimates should begin flowing in from ROS to ArduPilot. Dani Garca 67 subscribers Subscribe 4K views 1 year ago In this project we use Turtlebot 3 along with ROS 2 and Gazebo to explore an unknown csv map, navigate through it and create a map. IMU frequency used for generating noise model parameters. Open a new terminal and enter your workspace. Im sure others have their opinions as to what is needed, Im trying to get some of those as input too. Default is empty, which means the value of the, The name of the left camera frame. VSLAM is a best-in-class package with the lowest translation and rotational error as measured on KITTI Visual Odometry / SLAM Evaluation 2012 for real-time applications. The frames discussed below are oriented as follows: Set up your development environment by following the instructions here. How do I build cartographer_ros without rviz support? IEEE Robot Autom Lett 3(4):40684075, CrossRef The RPLidar should be oriented so that its USB cable wire is pointing forward in the same direction as the arrow on the flight controller. Id prefer option 1 since I really hoped to leave gmapping behind. My previous attempt to broach the subject there was this issue which basically boomeranged back to me to create an RFC and take it to the google cartographer Open House, which hasnt met in 7 months, in order to get it approved and a ROS2 branch created. But the package and . Purpose. Cartographer has both 2D and 3D SLAM, but this guide will focus only on the 2D SLAM. Instead of manually modifying the above packages, clone this repository and install the dependencies. The transformation between the configured map_frame replaces rosbag play. SLAM with cartographer requires laser scan data for robot pose estimation. Cartographer SLAM builds a map of the environment and simultaneously estimates the platform's 2D pose. Open a new terminal use the shortcut ctrl+alt+t. Source See our GitHub organization. This project provides Cartographer's ROS integration. This tool is useful to keep old nodes that require a single monolithic map to work happy until new nav stacks can deal with Cartographer's submaps directly. Chapter 22 - Summary Cartographer-SLAM Edit on GitHub Cartographer-SLAM Next Previous Copyright 2022, duyongquan. You can save the map. The USB cable should be plugged into a USB port on the companion computer running ROS. You signed in with another tab or window. You are correct, and it could be. Macenski, S., Jambrecic I., "SLAM Toolbox: SLAM for the dynamic world", Journal of Open Source Software, 6(61), 2783, 2021. Then there are 3rd party options like what Jari and I have presented amongst others, I can create an overview of the other ones I know about that are more or less equivalent (REP105 frames + lidar) but I wouldnt place much hope there will be a long term support plan as many are as you mentioned for a paper and widely untouched afterwards. A complete 2D and 3D graph SLAM implementation using plagiarized code from Karto - safijari/yag-slam. None of these methods are perfect; each has limitations because of systematic flaws in the sensor providing measured observations, such as missing LIDAR returns absorbed by black surfaces, inaccurate wheel ticks when the wheel slips on the ground, or a lack of distinctive features in a scene limiting key points in a camera image. Thus, if objects are close by to the robot it will start to generate the map. Would that be awesome? Once it is done processing all data, it writes out the final Cartographer state and exits. With that list of requirements, I see 2 most reasonable options: we reapproach Google folks again on ROS2 and re-explain the importance or we port Gmapping and write the testing infrastructure ourselves. (Set up ROS Domain ID ) Typically, these are published periodically by a robot_state_publisher or a To learn more about VSLAM, refer to the cuVSLAM SLAM documentation. Im committed to working on it and maintaining for at least a few more years and Ive deliberately kept the code as simple as possible. Agreed, I think in concept its totally possible. Lecture Notes in Mechanical Engineering. Teleoperate the robot through the physical world until the enclosed environment is completely covered in the virtual map. Slam with raspberry pi + Ros 2 + Google Cartographer Jose Laruta 579 subscribers Subscribe 22 Share 971 views 1 year ago In this video we demonstrate a 2d simultaneous localization and mapping. An example of the map.pgm image is given in the following. Cartographer is a system that provides real-time simultaneous localization and mapping ( SLAM) in 2D and 3D across multiple platforms and sensor configurations. Part of Springer Nature. TurtleBot3 is a small, affordable, programmable, ROS-based mobile robot used in education, research, hobbies, and product prototyping. 2D SLAM with cartographer. feature detection/extraction, place-recognition, odometry etc) rather than a larger (partially) end-to-end thing. Intel RealSense depth cameras (D400 series) can generate depth image, which can be converted to laser scan with depthimage_to_laserscan package and t265 camera can provide pose information as a odometer. In all other regards, it behaves like the cartographer_node. This is a preview of subscription content, access via your institution. It uses input stereo image pairs to find matching key points in the left and right images; using the baseline between the left and right camera, it can estimate the distance to the key point. But Im seeing work that is slowly changing that. To add to this: having used gmapping, and then Karto and Slam Toolbox in production Im 100% with @smac on letting gmapping die with ROS 1. A modular-SLAM metapackage would be at least a 6-12 month undertaking. If you don't have "cartographer_ros" and "cartographer_ros_msgs", you can install cartographer by performing the following: Before installing package, you need to make sure which ROS distribution you are using. @clalancette has been kindly keeping this updated but it is forked from the upstream cartographer_ros project, which doesn't have a ros2 branch. Couldnt agree more. I dont know of any other non-cartographer example in ROS1 that meets all the criteria I listed, which is partly why I started this thread. CameraInfo from the left eye of the stereo camera. Introduction The goal of this tutorial is to use Cartographer to create a map of environment The packages that will be used: cartographer cartographer-ros turtlebot3_cartographer turtlebot3_teleop turtlebot3_gazebo This tutorial explains how to use the Cartographer for mapping and localization. The offline_node is the fastest way of SLAMing a bag of sensor data. *And the more I look into Cartographer the more Im convinced the original framework presented by Karto is much more straight forward (trying to follow code paths in Cartographer make my head spin) and seemingly just as flexible as the one present in Cartographer. In: International conference on ubiquitous robots and ambient intelligence (URAI), Daejeon, Ratter A, Sammut C, McGill M (2013) GPU accelerated graph SLAM and occupancy voxel based ICP for encoder-free mobile robots. publish_frame_projected_to_2d enable, 2D(roll pitchz-offset)pose extrapolation step, use_odometry enable,topicodomnav_msgs/Odometry.SLAM:trueROS2odomtopiccarto, use_nav_sat enable, fixsensor_msgs/NavSatFix, use_landmarksenablelandmarkscartographer_ros_msgs/LandmarkListLandmarkLists1cartographer_ros_msgs/LandmarkEntrycartographer_ros_msgs/LandmarkList, num_laser_scans: laser scan1sensor_msgs/LaserScanscan,scan_1,scan_2, num_multi_echo_laser_scans: multi-echo laser scan1echoessensor_msgs/MultiEchoLaserScan,echoes_1, echoes_2, num_subdivisions_per_laser_scan: 1011/1=1, num_point_clouds: point cloud1points2sensor_msgs/PointCloud2,points2_1,points2_2, lookup_transform_timeout_sec: tf2, submap_publish_period_sec: 0.3 , pose_publish_period_sec: 5e-3 200 Hz, publish_tracked_pose: geometry_msgs/PoseStamped tracked_pose, trajectory_publish_period_sec 30e-3 30 , fixed_frame_sampling_ratio , use_pose_extrapolator NodeIMU use_pose_extrapolatortrueIMUfalsepublish_tracked_posefalseuse_pose_extrapolator, "map_builder.lua" "trajectory_builder.lua", pose_grapher.lua cartographer pose_graph.lua , cartographer trajectory_builder_2d.lua, cartographerlaunch, 2d/3ddemo_backpack_2d.launchbackpack_2d.launch, demo_backpack_2d_localization.launch, https://blog.csdn.net/qq_18276949/article/details/113174339, launchcartographer.lua.launchbackpack_2d.launch.py(ROS2python.launch.launch.py), cartographer_node remap cartographerodomodomremappings=[('odom', '/odometry/filtered')], cartographer, carto/scan/scan()cartoframeIDROS2topic,map_frame,tracking_frame,published_framecartoframe_IDTF, carto/scan/odomodom_optimize, ros2 launch cartographer_ros my_robot.launch.py my_robot.launch.py , rqt_graph cartographer , vmwareUbuntu: IMUcartourdf Ubuntucarto: , https://blog.csdn.net/PC2721/article/details/128303807, map_saver , map_saverCartographer, # pcap: /home/ls/work/2211/M10_P_gps.pcap #pcap, # Single scan from a planar laser range-finder, # If you have another ranging device with different behavior (e.g. Powered by Discourse, best viewed with JavaScript enabled, Supporting / maintaining SLAM in ROS2 - input requested, High quality & performance mapping (obviously), Liberally licensed for use in production (BSD 3-clause or Apache 2.0 preferred), In a mainline ROS github organization such as ros2 or ros-perception, similar to slam_karto and openslam_gmapping, Maintained by more than one maintainer, with a commitment to keep it current with new ROS2 releases and respond in a timely fashion to issues, Well documented ROS2 topic / services interfaces, tutorials, With maintained CI, including testing pull requests, to maintain quality, feels outdated, be it the code and/or the actual algorithm, has no flexibility, extending it essentially means re-writing a substantial portion of it, has little to no modularity. Slam Toolbox for lifelong mapping and localization in potentially massive maps - SteveMacenski/slam_toolbox. Why is IMU data required for 3D SLAM but not for 2D? We have developed two exploring algorithyms:- Wanderer Exploration explores the map doing random turns when it detects an obstacle. The image from the left eye of the stereo camera in grayscale. See tutorials for working with it in ROS2 Navigation here. Provided by the Springer Nature SharedIt content-sharing initiative, Over 10 million scientific documents at your fingertips, Not logged in Cartographer SLAM is one of Simultaneous Localization and Mapping (SLAM) methods developed by Google, which integrates compatibility with various sensor devices . It's a better way to explore bigger maps in exchange of a higher computational cost. If RViz is not showing the poses, check the Fixed Frame value. Im not sure if anyone at Intel has the cycles to play with it, but expect a similar level of support for this project as I give navigation2. Invert the odom_frame->base_frame transform before broadcasting to the tf tree. If enabled, SLAM mode is on. Compiling Cartographer ROS System Requirements Building & Installation Running Cartographer ROS on a demo bag Deutsches Museum The default value is empty, which means left and right cameras have identity rotation and are horizontally aligned. The pbstream_map_publisher is a simple node that creates a static occupancy grid out of a serialized Cartographer state (pbstream format). # In terminal 1, launch cartographer node, # In terminal 2, launch Intel RealSense D400 camera and T265 camera, # You should config the serial number and tf in the launch file ros2_intel_realsense/realsense_examples/launch/rs_t265_and_d400.launch.py before launch the camera, # In terminal 3, launch the turtlebot3 for RealSense SLAM, # In terminal 4, launch the teleoperation node for robot. /scan/odom/submap_list. Hint: The signs ~/ is a direct path to the home directory which works from every relative path. My view is that it only going to be a particular implementation of a particular task (e.g. @mkhansen my goal with that comment wasnt to push ST as much as point out that our options with that check list are very limited and we might want to temper expectations from looking at history unless theres someone standing up saying theyll do the work & maintain under a ROS org long term. A new optimization plugin based on Google Ceres is also introduced. @smac, glad to see that you would like to be part of such project! Mohd Azizi Abdul Rahman . The image from the right eye of the stereo camera in grayscale. a. open a terminal and use ssh connect to Turtlebot3. For solutions to problems with Isaac ROS, please check here. Id just like to narrow down to finite options and discuss whats the best direction amongst them to move forward with. Commands are executed in a terminal: Info: The computer of the real robot will be accessed from your local computer remotely. If input_base_frame_ and base_frame_ are both empty, the left camera is assumed to be in the robot's center. I feel like this matters for maintainability even if the original maintainers drop off. An action to save the landmarks and pose graph into a map and onto the disk. Its also faster than Karto based on what Ive seen and the ultimate goal is to unlock life long mapping. Main flag to enable or disable visualization. In some instances, the number of key points may be limited or entirely absent; for example, if the camera field of view is only looking at a large solid colored wall, no key points may be detected. In: IEEE international workshop of electronics, control, measurement, Liberec, Bahreinian SF, Palhang M, Taban MR (2016) Investigation of RMF-SLAM and AMF-SLAM in closed loop and open loop paths. https://doi.org/10.1007/978-981-15-4481-1_20, DOI: https://doi.org/10.1007/978-981-15-4481-1_20, eBook Packages: EngineeringEngineering (R0). The maximum size of the buffer for pose trail visualization. My SLAM experience is mostly ROS1 based and over the years I got to play with many - if not most - of the SLAM frameworks out there. The following additional sensor data topics may also be provided: All services responses include also a StatusResponse that comprises a code and a message field. Using two consecutive input stereo image pairs, VSLAM can track the 3D motion of key points between the two consecutive images to estimate the 3D motion of the camera--which is then used to compute odometry as an output to navigation. Clone this repository and its dependencies under ${ISAAC_ROS_WS}/src. Im surprised that nobody suggested the idea of starting a ROS2 SLAM effort from scratch. input_base_frame: The name of the frame used to calculate transformation between baselink and left camera.The default value is empty (''), which means the value of base_frame_ will be used. This package is designed and tested to be compatible with ROS 2 Humble running on Jetson or an x86_64 system with an NVIDIA GPU. the RobotModel which is virtual visualization of the robot. 2023 Springer Nature Switzerland AG. Mission Planner) and check that the following parameters are set as shown below: EK3_SRC1_POSXY = 6 to set position horizontal source to ExternalNAV, EK3_SRC1_POSZ = 1 to set position vertical source to Baro, EK3_SRC1_VELXY = 6 to set velocity horizontal source to ExternalNAV, EK3_SRC1_VELZ = 6 to set vertical velocity source to ExternalNAV, EK3_SRC1_YAW = 6 to set yaw source to ExternalNAV, ARMING_CHECK = 388598 (optional, to disable GPS checks). This is the problem I see that Id like to see solved for ROS2. That saves a bit of effort in shuttling things back and forth across forks. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. To estimate the position of the robot in an environment, you need some kind of map from this environment to determine the actual position in this environment. After changing any of the values above, reboot the flight controller. Hess W, Kohler D, Rapp H, Andor D (2016) Real-time loop closure in 2D LIDAR SLAM. SLAM (simultaneous localization and mapping) is built on top of VIO, creating a map of key points that can be used to determine if an area is previously seen. is a pain to set up (Im not pointing a finger at cartographer), Do some form of odom correction or odom calculation, compute uncertainty. I cant comment on if it would be beneficial to set up SLAM similar to the nav stack but all the reasons you mention are the reasons I wrote my own SLAM package (or rather, rewrote most of Karto, second shameless plug). Copyright 2022 The Cartographer Authors Google Scholar, Kohlbrecher S, Stryk OV, Meyer J, Klingauf U (2011) A flexible and scalable SLAM system with full 3D motion estimation. Is this meant to be just 2D SLAM or also 3D? At least one source of The frame name associated with the odometry origin. This section describes the coordinate frames that are involved in the VisualSlamNode. What about Karto? But I dont see a large overlap in active viewer maintainers and original cartographer_ros maintainers. These are important points but tempering with past projects is useful. The vehicle should appear immediately on the map where you clicked. With three separate estimates of odometry, failures in a single method can be detected, allowing for fusion of the multiple methods into a single higher quality result. Overview SLAM with cartographer requires laser scan data for robot pose estimation. From this second terminal, run Rviz2 to display the output: If you are SSH-ing in from a remote machine, the Rviz2 window should be forwarded to your remote machine. In: Sabino, U., Imaduddin, F., Prabowo, A. Check if there are turtlebot3* packages, 3.3. So, yeah. supply scan matching for a new kind of sensor and the SLAM would come for free). Clone the Robot Pose Publisher package into the workspace, Create the cartographer_ros launch file using your favourite editor (like gedit), Copy-paste the contents below into the file, Create the cartographer.lua script using our favourite editor (like gedit). You signed in with another tab or window. Are you sure you want to create this branch? If you are satisfied with your map you can store it. In: IEEE/RSJ international conference on intelligent robots and systems, Tokyo, Zhang H, Martin F (2013) CUDA accelerated robot localization and mapping. Read the Docs v: latest Not to say our stuff is trivial to understand, but its at least readable and well commented. Provides ROS integration for Cartographer. When VSLAM determines that an area is previously seen, it reduces uncertainty in the map estimate, which is known as loop closure. The following range data topics are mutually exclusive. For this tutorial, we will use SLAM Toolbox. , 3DSLAM, Tetris.h Tetris.cpp Block.h Block.cpp Map.h Map.cppcppkey.cpp, zWGS84(WGS84z), provide_odom_frame true odom robot_localization , offline_backpack_2d.launch, demo_backpack_2d_localization.launch. Call the node with the --help flag to see all available options. Do you see another non-cartographer example in ROS1 that provided those that we could look to port? Cartographer is a system that provides real-time simultaneous localization and mapping ( SLAM) in 2D and 3D across multiple platforms and sensor configurations. A service to get the series of poses for the path traversed. These instructions were tested on an NVidia TX2 flashed with APSync and then ROS and MAVROS were installed as described here. It is also the currently supported ROS2-SLAM library. If the target frames in rviz are being updated at a lower rate than the input image rate: Check if the input image frame rate is equal to the value set in the launch file by opening a new terminal and running the command. I still have my concerns however, until I hear some commitment from the maintainers themselves. In: IEEE international conference on robotics and automation, Anchorage. Name of the frame (baselink) to calculate transformation between the baselink and the left camera. In: IROS, Taipei, Hong S, Ko H, Kim J (2010) VICP: velocity updating iterative closest point algorithm. Introduction The goal of this tutorial is to use Cartographer to create a map of environment The packages that will be used: cartographer cartographer-ros turtlebot3_cartographer turtlebot3_teleop turtlebot3_gazebo This tutorial explains how to use the Cartographer for mapping and localization. ROS provides different VSLAM provides an additional odometry source for mobile robots (ground based) and can be the primary odometry source for drones. (eds) Proceedings of the 6th International Conference and Exhibition on Sustainable Energy and Advanced Materials. Such framework would be fully ROS2 based and emphasize modularity and flexibility. 3.2.1. Id really like to see someone in the community or TSC step up and volunteer to take ownership. Occupancy grid Node. Cartographer can perform SLAM from multiple robots emitting data in parallel. If theres interest I can accelerate work on a ROS 2 wrapper. It subscribes to Cartographers submap_list topic only. I think ideally it would be maintained in the same place that the ros wrapper is maintained, so that improvements can be ported across the versions. Gmapping if ported would be 4 of those. I agree this would be more of a mid to long-term project and does not respond to the immediate need for a mapping solution in ROS2. My current assumption is indeed that such framework would rely on graph-based SLAM as it is currently the de-facto standard formulation. Karto 3. github-ros2-cartographer Overview 0 Assets 13 Dependencies 0 Tutorials 0 Q & A Package Summary Repository Summary Package Description Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. A tag already exists with the provided branch name. Cartographer is a system that provides real-time SLAM in 2D and 3D across multiple platforms and sensor configurations. In addition to the topics that are published by the online node, this node also publishes: The occupancy_grid_node listens to the submaps published by SLAM, builds an ROS occupancy_grid out of them and publishes it. Therefore you can use SLAM Simultaneous Localization and Mapping. at our Contribution page. Lines beginning with $ indicates the syntax of these commands. Karto and Slam Toolbox work infinitely better and are more lightweight*. VSLAM provides a method for visually estimating the position of a robot relative to its start position, known as VO (visual odometry). It can be enabled when images are noisy because of low-light conditions. This should help with maintainability. In: Robotics: science and systems conference, Pittsburgh, Mur-Artal R, Tards JD (2017) ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras. Another thread mentioned that the OSRF ros2 port doesnt contain recent changes which the cartographer folks say make substantial improvements. Defines the name of the IMU frame used to calculate. This method is designed to use left and right stereo camera frames and an IMU (inertial measurement unit) as input. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. static_transform_publisher. This would be one of the layer of abstraction. - 64.235.60.82. Additional Links Website Maintainers Chris Lalancette Ive been working on what is essentially a rewrite of open_karto but built to be python first and more flexible (e.g. If using a TX2 mounted on an AUVidea J120 board, ensure the lidar is plugged into the lower USB port. trying to follow code paths in Cartographer make my head spin. Cartographer is a system that provides real-time simultaneous localization This repository provides a high-performance, best-in-class ROS 2 package for VSLAM (visual simultaneous localization and mapping). PubMedGoogle Scholar. I guess Im confused as to why the wrapper needs to be upstream and cant be a repo under OSRF. range data is required. ; input_left_camera_frame: The frame associated with left eye of the stereo camera. In: IEEE conference on technologies for practical robot applications (TePRA), Woburn, Song J, Wang J, Zhao L, Huang S, Dissanayake G (2018) MIS-SLAM: real-time large-scale dense deformable SLAM system in minimal invasive surgery based on heterogeneous computing. Run Rviz and add the topics you want to visualize such as /map, /tf, /laserscan etc. Hint: Make sure that the Fixed Frame (in Global Options) in RViz is set to map. But this aspect of the modularity is not quite clear to me yet. In: IEEE international symposium on safety, security, and rescue robotics, Kyoto, Zhang J, Singh S (2014) LOAM: Lidar odometry and mapping in real-time. 1. The frame name associated with the robot. As per the fairly open title of this thread, I dont think we are. ROS2topiccartographer. Bhd., Level 1, Futurise Centre, Persiaran Apec, 63000, Cyberjaya, Selangor, Malaysia, You can also search for this author in ROS 2 Cartographer 1. 2020 Springer Nature Singapore Pte Ltd. Dwijotomo, A., Rahman, M.A.A., Ariff, M.H.M., Zamzuri, H. (2020). The path to the directory to store the debug dump data. Others can be devised, especially from the implementation perspective. Enable tf broadcaster for map_frame->odom_frame transform. Update 2022-05-25: cuVSLAM 11 with improved quality. This tool is useful to keep old nodes that require a single monolithic map to work happy until new nav stacks can deal with Cartographers submaps directly. Flag to mark if the incoming images are rectified or raw. messages frequently, it could be caused by the following issues: This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. SLAM is a set of algorithms put together, but often there are no easy way to only change a chunk of it, does not have a somewhat standardized API that would make comparison easier. Compared to the classic approach to VSLAM, this method uses GPU acceleration to find and match more key points in real-time, with fine tuning to minimize overall reprojection error. SLAM (cartographer) on Turtlebot2 using ROS2 Chris Lalancette clalancette@openrobotics.org September 21, 2017. There is e.g. Note: Versions of ROS 2 earlier than Humble are not supported. Make sure you have "src" folder, then run this command to get source code for turtlebot3, Source your ROS 2 installation workspace and install dependencies. only going to be a particular implementation of a particular task. VSLAM provides a vision- and IMU-based solution to estimating odometry that is different from the common practice of using LIDAR and wheel odometry. If input images are noisy, you can use the. and published_frame is provided unless the parameter publish_to_tf is set to false. The name of the right camera frame. If enabled, slam poses will be modified such that the camera moves on a horizontal plane. The scanner of the Turtlebot3 covers 360 degrees of its surroundings. configurations. Macenski, S., This paper presents the utilization of Googles simultaneous localization and mapping (SLAM) called Cartographer, and improvement of the existing processing speed using multistage distance scheduler. Visual odometry package based on hardware-accelerated NVIDIA Elbrus library with world class quality and performance. How do I fix the You called InitGoogleLogging() twice! error. It was developed with the focus for portable mapping devices which work anywhere. It's a convenient way to explore small maps but time consuming for bigger ones.-Discoverer Exploration prioritizes specific unknown hotspots of the map convoluting the occupancy grid. An action to load the map from the disk and localize within it given a prior pose. If provide_odom_frame is enabled in the Lua configuration reference documentation, additionally a continuous Start ROS2 realsense and depth image to laser scan. This tutorial explains how to use the Cartographer for mapping and localization. Cannot retrieve contributors at this time. Compiling Cartographer ROS System Requirements Building & Installation Running Cartographer ROS on a demo bag Deutsches Museum If enabled, input images are denoised. The software is implemented using ros2 and it's still a work in progress. With that said, the last substantive change to gmapping was years ago so Im not entirely sure the automated testing pipeline is totally necessary with the small cadence of changes. This is obviously a hassle, but Id be potentially willing to do it, except it doesnt look like that meeting is happening anymore and Im not even sure that repo is being maintained anymore, based on the last commit having been back in May. A practical approach to tracking odometry is to use multiple sensors with diverse methods so that systemic issues with one method can be compensated for by another method. I think thats both incredibly reasonable and unrealistic for the moment. Something used by companies in production is more attractive to me since theres a group that has invested interest in it working, which at minimum Jari and Is would have. CameraInfo from the right eye of the stereo camera. This project provides Cartographer's ROS integration. This project provides Cartographer's ROS integration. Probably have a PF unit and plugins for deep learning units while making sure that its super performant with all that generalization. Finally, please give an initial pose and goal within RVIZ2 to direct and navigate the turtlebot3 with the running map. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Learn how to use this package by watching our on-demand webinar: Pinpoint, 250 fps, ROS 2 Localization with vSLAM on Jetson. So far Im hearing: cartographer, karto, gmapping, slam toolbox, and yag. Only if you did set up ROS Domain ID before, you need to set up ROS Domain ID here. Id say my work meets the bullets of that that are most important: efficient, documented, debians, and open (sure, not apache, but I make no terms against commercial use, just to give back, which I find very rational given the time organizations Ive been in have dumped into it). This page shows how to setup ROS and Google Cartographer SLAM using an RPLidarA2 lidar to provided a local position estimate for ArduPilot so that it can operate without a GPS. The node will create a map.pgm and a map.yaml files in the current directory, which is your workspace directory in this case. (. Package Description. Improve CONTRIBUTING.md and add a pull request template. and mapping (SLAM) in 2D and 3D across multiple platforms and sensor Cartographer 3D SLAM Demo Documentation You will find complete documentation for using Cartographer with ROS at our Read the Docs site. This is particularly useful in environments where GPS is not available (such as indoors) or intermittent (such as urban locations with structures blocking line of sight to GPS satellites). Are you sure you want to create this branch? @clalancette has been kindly keeping this updated but it is forked from the upstream cartographer_ros project, which doesnt have a ros2 branch. (i.e. White noise parameter for gyroscope based on, Random walk parameter for gyroscope based on, White noise parameter for accelerometer based on, Random walk parameter for accelerometer based on. Revision c138034d. This software provides satisfying quality of mapping and SLAM with modern sensory, it is flexible and able for tuning. If enabled, a debug dump (image frames, timestamps, and camera info) is saved on to the disk at the path indicated by. Its almost ready for primetime (just finished the ROS 1 node). You can find the repo here: GitHub - jdgalviss/jetbot-ros2: ROS 2 implementation of a Teleoperated robot with live video feed using webrtc and SLAM using realsense's stereocameras . Advanced Vehicle System Research Group, Universiti Teknologi Malaysia, Jalan Sultan Yahya Petra, 54100, Kuala Lumpur, Malaysia, Abdurahman Dwijotomo,Mohd Azizi Abdul Rahman,Mohd Hatta Mohammed Ariff&Hairi Zamzuri, Emoovit Technology Sdn. ROS2ROS2bug, 2023.3.18 : https://blog.csdn.net/scarecrow_sun/article/details/129474844, 2023.3.5IMUcartographer, ROS2, ROScartographer ROSROS2 cartographer cartographercartographercartographer_roscartographercartographer_roscartographer, cartographerUbuntuROS2nodetopic, ROS2topiccartographercartographer cartographer , ROS2M10P, bug ROS2diagnostic_updater,CMake did not find diagnostic_updater. View billions of points in your browser. Yes, absolutely, and Id love to be part of it as its happening, but for the more immediate need of a ROS2 reliable SLAM solution thats going to be looked after, we should steer back towards that. The author also would like to acknowledge Emoovit Technology Sdn. Furthermore, you can visualize the transforms of the available frames by checking the box of tf. In: International conference of signal processing and intelligent systems (ICSPIS), Tehran, Lee D, Kim H, Myung H (2012) GPU-based real-time RGB-D 3D SLAM. Note: All Isaac ROS Quickstarts, tutorials, and examples have been designed with the Isaac ROS Docker images as a prerequisite. Getting started. provide_odom_frame enable, local, non-loop-closed, continuous pose odom_frame map_frame. Open a new tab inside an existing terminal use the shortcut ctrl+shift+t. This project provides Cartographers ROS integration. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. [Terminal 1] Inside the container, build and source the workspace: (Optional) Run tests to verify complete and correct installation: Run the following launch files in the current terminal (Terminal 1): [Terminal 2] Attach another terminal to the running container for Rviz2. Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. If enabled, 2D feature pointcloud will be available for visualization. Are you sure you want to create this branch? In: IEEE international conference on robotics and automation (ICRA), Stockholm, Khairuddin AR, Talib MS, Haron H (2016) Review on simultaneous localization and mapping (SLAM). Correspondence to 2- Launch SLAM. catorgrapher.lua.launch.py, cartographer.luabackpack2d.lua backpack2d.lua,frame_IDlaser_link, ros2 humble cartographer/opt/ros/humble/share/cartographer_ros/configuration_files/, cartographer https://zhuanlan.zhihu.com/p/563264225, tracking_frame SLAMROSIDIMUimu_link tracking_frameframe_idcartographer2Dframe_idlaser+IMU2D3DIMUimuframe_idimu_link, published_frame: ROSIDodomodommap_frameodombase_link cartographertfpublished_framepublished_framecartographertfframe_idURDFlink namebase_linkbase_footprint, odom_frame provide_odom_frametrueodom. the default value is empty, which means the left camera is in the robot's center and. This can be confirmed by connecting to the flight controller using the Mission Planner (or similar) and check the Flight Data screens Messages tab (bottom left) for messages from the EKF like below: Using the Mission Planner (or similar) go to the Flight Data screen and right-mouse-button click on the map and select Set Home Here >> Set EKF Origin. Control and move the turtlebot3 with keyboard to build map, and when the map building process is done, please save the map with the following command: Next, try to open and preview the map.pgm to confirm it. Many of us use libcartographer and cartographer_ros package in our projects. from NVIDIA-ISAAC-ROS/hotfix-release-dp3.1-1, Update validation instructions and transform, Pinpoint, 250 fps, ROS 2 Localization with vSLAM on Jetson, Tutorial for Visual SLAM using a RealSense camera with integrated IMU. But you know, the earlier we talk about it . Override timestamp received from the left image with the timetsamp from rclcpp::Clock. The only example I could give that had all that is cartographer@ros1. Cartographer ROS Integration. I think there will be some compromises any way we go- but step 1 is what are the options. To simplify development, we strongly recommend leveraging the Isaac ROS Dev Docker images by following these steps. Learn to use Cartographer with ROS at our Read the Docs site. It is GPU accelerated to provide real-time, low-latency results in a robotics application. Cartographer is a system that provides real-time simultaneous localization and mapping in 2D and 3D across multiple platforms and sensor configurations. If the terminals path is "your workspace" they can be found in "your workspace" directory. If you are using simulation, you need to use simulation time. Id also like to shamelessly plug one of my projects as a possible contender. This work is funded by the Ministry of Education Malaysia and Universiti Teknologi Malaysia, under VOT 06G16. When @clalancette I discussed this earlier, I think we came to the conclusion: I believe that we left off with wanting to propose this to the cartographer developers, but as you said, there hasnt been much traction there. Note: ${ISAAC_ROS_WS} is defined to point to either /ssd/workspaces/isaac_ros-dev/ or ~/workspaces/isaac_ros-dev/. The main purpose of this guide is to show how to integrate your sensors to work with Cartographer in a ROS environment. For every further command, a tag will inform which computer has to be used.
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