kaarta STENCIL 2 - Chapter 7; Faq

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CHAPTER 7
FAQ
My robot drives in flat areas, how can I estimate planar motion instead of 6-DOF motion?
Mount Stencil 2 horizontally on the robot.
Using the Stencil Settings icon, update the usePlanarMotion to true in the user parameters.
There will be multiple instances of this parameter in the file, so be sure to change them all. The
program will lock the pose on x-y plane. Estimating planar motion instead of 6-DOF motions
improves the robustness in tight indoor areas.
Can I adapt the program for tight indoor areas?
Using the Stencil Settings icon, reduce all voxelSize, cornerVoxelSize, surfVoxelSize, and
mapVoxelSize by 50% in the user parameters. Reduce blindRadius to 0.5 to allow close points
to be accepted around the sensor in the user parameters. If the indoor area is flat, you can also
estimate planar motion instead of 6-DOF motion. Using the Stencil Settings icon, update and
change all usePlanarMotion to true in the user parameters. You can also adjust the number of
iterations and error thresholds to achieve better scan matching. See the Typical Parameter to Set
section for a discussion on these parameters.
Can I adapt the program for use in large open vegetated areas?
Using the Stencil Settings icon, update and increase all voxelSize, cornerVoxelSize, and
surfVoxelSize by 25-50%. Set motionSensitive to false to reduce the estimation sensitivity
and improve the robustness in the user parameters.
My application requires frequent robot stops, what is the best way to scan?
The program listens to std_msgs::Bool typed messages on topic /isSensorMoving. To
temporarily stop the robot, send false to lock the sensor pose. Before moving again, send true to
resume the estimation. For a long-term stop (e.g. up to hours), use the stop.sh script to turn off
the program. Before starting again, use the start_localization.sh or
start_localization_from_last.sh script to turn on the program.
start_localization.sh will start the system at the default pose.
start_localization_from_last.sh will start the system where it was turned off last time.
Turning-off the program helps save CPU usage and battery.