2013-12-11 00:12:44 +00:00
|
|
|
<launch>
|
|
|
|
|
|
|
|
|
|
<!-- APPEARANCE-BASED LOCALIZATION VERSION -->
|
|
|
|
|
|
|
|
|
|
<group ns="rtabmap">
|
|
|
|
|
<!-- args: "delete_db_on_start" and "udebug" -->
|
|
|
|
|
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
|
|
|
|
|
|
|
|
|
|
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
|
|
|
|
|
<param name="subscribe_laserScan" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
|
|
|
|
|
<param name="queue_size" type="int" value="10"/>
|
|
|
|
|
|
|
|
|
|
<remap from="rgb/image" to="/image"/> <!-- connect to "image" topic of the camera below -->
|
|
|
|
|
|
|
|
|
|
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
|
|
|
|
|
<param name="RGBD/Enabled" type="string" value="false"/> <!-- False: appearance-based -->
|
|
|
|
|
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
|
|
|
|
|
<param name="Rtabmap/ImageBufferSize" type="string" value="0"/> <!-- process all images -->
|
2014-02-20 20:47:46 +00:00
|
|
|
<param name="Rtabmap/DetectionRate" type="string" value="0"/> <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
|
2013-12-11 00:12:44 +00:00
|
|
|
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
|
|
|
|
|
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
|
2014-01-22 20:24:29 +00:00
|
|
|
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/>
|
2013-12-11 00:12:44 +00:00
|
|
|
</node>
|
|
|
|
|
|
|
|
|
|
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
|
|
|
|
|
<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen" args="-d $(find rtabmap)/launch/config/appearance_gui.ini">
|
|
|
|
|
|
|
|
|
|
<!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
|
|
|
|
|
<!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
|
|
|
|
|
<param name="camera_node_name" type="string" value="/camera"/>
|
|
|
|
|
|
|
|
|
|
</node>
|
|
|
|
|
</group>
|
|
|
|
|
|
|
|
|
|
<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
|
|
|
|
|
<node name="camera" pkg="rtabmap" type="camera" output="screen">
|
|
|
|
|
<remap from="image" to="image"/>
|
|
|
|
|
<param name="device_id" value="0" type="int"/>
|
|
|
|
|
<param name="video_or_images_path" value="$(find rtabmap)/data" type="string"/>
|
|
|
|
|
<param name="frame_rate" value="2.0" type="double"/>
|
|
|
|
|
<param name="width" value="0" type="int"/>
|
|
|
|
|
<param name="height" value="0" type="int"/>
|
|
|
|
|
<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
|
|
|
|
|
</node>
|
|
|
|
|
</launch>
|
