SLAM QoS hardening, G1 config updates, and logging cleanup (#7)

* Refactor launch file arguments for clarity by renaming 'config_file' to 'slam_config_file' and 'odom_topic' to 'slam_odom_topic'. Update parameter references accordingly.

* Update unitree_g1.yaml with new camera offsets and adjust sensorOffsetZ. Change logging levels in localPlanner and featureExtraction for improved debugging. Add use_realsense_feature_cloud parameter in livox_mid360.yaml and related files. Refactor logging in various components to use DEBUG level for detailed information.

* Add Apache License 2.0 to the project

* Enhance QoS settings for IMU and laser odometry subscriptions and publishers. Updated IMU subscription to use best effort QoS with a depth of 200, and laser odometry subscription and publisher to use reliable QoS with a depth of 50 for improved data handling.

Author: alexlin2

LICENSE

@@ -0,0 +1,200 @@
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src/base_autonomy/local_planner/config/unitree/unitree_g1.yaml

@@ -3,7 +3,12 @@ sensorMountingOffsets:
   ros__parameters:
     sensorOffsetX: 0.0
     sensorOffsetY: 0.0
-    sensorOffsetZ: 0.0
+    sensorOffsetZ: 0.35
+
+    cameraOffsetX: 0.1
+    cameraOffsetY: 0.0
+    cameraOffsetZ: 0.04
+    cameraOffsetPitch: 0.2094395
 
 # SLAM sensor configuration
 feature_extraction_node:

src/base_autonomy/local_planner/src/localPlanner.cpp

@@ -685,7 +685,7 @@ int main(int argc, char** argv)
 
   //auto pubLaserCloud = nh->create_publisher<sensor_msgs::msg::PointCloud2> ("/stacked_scans", 2);
 
-  RCLCPP_INFO(nh->get_logger(), "Reading path files.");
+  RCLCPP_DEBUG(nh->get_logger(), "Reading path files.");
 
   if (autonomyMode) {
     joySpeed = autonomySpeed / maxSpeed;
@@ -719,7 +719,8 @@ int main(int argc, char** argv)
   readPathList();
   readCorrespondences();
 
-  RCLCPP_INFO(nh->get_logger(), "Initialization complete.");
+  RCLCPP_INFO(nh->get_logger(),
+              "\033[32m\033[1m✔\033[0m local_planner: ready");
 
   rclcpp::Rate rate(100);
   bool status = rclcpp::ok();

src/slam/arise_slam_mid360/config/livox_mid360.yaml

@@ -68,6 +68,7 @@ laser_mapping_node:
         debug_view: false
         enable_ouster_data: false
         publish_only_feature_points: false
+        use_realsense_feature_cloud: false
         use_imu_roll_pitch: false
         start_from_previous_map: false
         max_surface_features: 2000

src/slam/arise_slam_mid360/include/arise_slam_mid360/LaserMapping/laserMapping.h

@@ -53,6 +53,7 @@ namespace arise_slam {
         bool debug_view_enabled;
         bool enable_ouster_data;
         bool publish_only_feature_points;
+        bool use_realsense_feature_cloud;
         bool use_imu_roll_pitch;
         // bool start_from_previous_map;
         int max_surface_features;

src/slam/arise_slam_mid360/include/arise_slam_mid360/sensor_data/imu/imu_data.h

@@ -123,22 +123,9 @@ struct Imu {
       acc_mean.y(), acc_mean.z());
 
 
-      std::cout<<"imu_laser_R: "<<imu_laser_R<<std::endl;
       imu_laser_R_Gravity=Roll_Pitch_Gravity_Matrix.inverse()*imu_laser_R;
       Transformd imu_laser_transform_gravity_(imu_laser_R_Gravity, imu_laser_T); 
       imu_laser_gravity_Transform=imu_laser_transform_gravity_;
-      std::cout<<"imu_laser_extrinsic_gravity: "<<imu_laser_gravity_Transform<<std::endl;    
-        
-    
-      std::cout<<"IMU Data Summary"<<std::endl;
-      std::cout<<"Gravity: "<<gravity.transpose()<<std::endl;
-      std::cout<<"Gyroscope Bias: "<<gyr_bias.transpose()<<std::endl;
-      std::cout<<"Accelerometer Bias: "<<acc_bias.transpose()<<std::endl;
-      std::cout<<"Accelerometer Mean: "<<acc_mean.transpose()<<std::endl;
-      std::cout<<"pitch offset gravity: "<<pitch_offset_gravity*180/M_PI<<std::endl;
-      std::cout<<"roll offset gravity: "<<roll_offset_gravity*180/M_PI<<std::endl;
-      std::cout<<"Roll Pitch Gravity Matrix: "<<Roll_Pitch_Gravity_Matrix<<std::endl;
-      
   }
 
   // Function to convert a rotation matrix to roll, pitch, and yaw

src/slam/arise_slam_mid360/launch/arize_slam.launch.py

@@ -25,7 +25,7 @@ def generate_launch_description():
     )
 
     config_path_arg = DeclareLaunchArgument(
-        "config_file",
+        "slam_config_file",
         default_value=config_path,
         description="Path to config file for arise_slam"
     )
@@ -40,7 +40,7 @@ def generate_launch_description():
         default_value=calib_path,
     )
     odom_topic_arg = DeclareLaunchArgument(
-        "odom_topic",
+        "slam_odom_topic",
         default_value="integrated_to_init"
     )
     world_frame_arg = DeclareLaunchArgument(
@@ -88,7 +88,7 @@ def generate_launch_description():
             "stderr": "screen",
         },
         parameters=[
-            LaunchConfiguration("config_file"),
+            LaunchConfiguration("slam_config_file"),
             PythonExpression([
                 "'", FindPackageShare('local_planner'), "/config/",
                 LaunchConfiguration('robot_config'), ".yaml'"
@@ -102,9 +102,9 @@ def generate_launch_description():
         executable="laser_mapping_node",
         output={
             "stdout": "screen",
-            #"stderr": "screen",
+            "stderr": "screen",
         },
-        parameters=[LaunchConfiguration("config_file"),
+        parameters=[LaunchConfiguration("slam_config_file"),
             {
                 "calibration_file": LaunchConfiguration("calibration_file"),
                 "local_mode": LaunchConfiguration("local_mode"),
@@ -117,7 +117,7 @@ def generate_launch_description():
                 "init_yaw": LaunchConfiguration("init_yaw"),
         }],
         remappings=[
-            ("laser_odom_to_init", LaunchConfiguration("odom_topic")),
+            ("laser_odom_to_init", LaunchConfiguration("slam_odom_topic")),
         ]
     )
 
@@ -129,7 +129,7 @@ def generate_launch_description():
             "stderr": "screen",
         },
         parameters=[
-            LaunchConfiguration("config_file"),
+            LaunchConfiguration("slam_config_file"),
             PythonExpression([
                 "'", FindPackageShare('local_planner'), "/config/",
                 LaunchConfiguration('robot_config'), ".yaml'"