mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
65 lines
3.4 KiB
XML
65 lines
3.4 KiB
XML
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<launch>
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<!--
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Usage:
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$ roslaunch turtlebot_bringup minimal.launch
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$ roslaunch rtabmap_ros turtlebot_mapping.launch
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Visualization:
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$ roslaunch turtlebot_rviz_launchers view_navigation.launch
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This launch file is a one to one replacement of the gmapping_demo.launch in this tutorial:
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http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM
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-->
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<arg name="rgbd_odometry" default="false" />
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<!-- Navigation stuff (move_base) -->
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<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
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<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
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<!-- Mapping -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="wait_for_transform" type="bool" value="true"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<!-- inputs -->
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<remap from="scan" to="/scan"/>
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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<!-- output -->
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<remap from="grid_map" to="/map"/>
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<!-- <remap from="proj_map" to="/map"/> -->
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<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
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<param name="Kp/MaxDepth" type="string" value="4.0"/>
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<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
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<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
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<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
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<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
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</node>
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<!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
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<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="wait_for_transform" type="bool" value="true"/>
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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</node>
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</group>
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</launch>
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