mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
96 lines
4.3 KiB
XML
96 lines
4.3 KiB
XML
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<?xml version="1.0"?>
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<launch>
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<!-- See https://github.com/unitreerobotics/unitree_guide to bringup simulation.
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Fix Cx/Cy of the cameras by setting them to 464 and 400 respectively in unitree_ros/robots/go1_description/xacro/depthCamera.xacro
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Ideally, build rtabmap with OpenGV support.
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Would work better if simulated environment has a lot of visual texture, see https://github.com/introlab/rtabmap_ros/issues/1031#issuecomment-1722322305
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Launch:
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$ roslaunch unitree_guide gazeboSim.launch wname:=apt
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$ roslaunch rtabmap_demos demo_unitree_quadruped_robot.launch
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$ ~/catkin_ws/devel/lib/unitree_guide/junior_ctrl
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Press 2 to get up, press 4 to move (w,a,s,d) and rotate (j,l)
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-->
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<arg name="localization" default="false"/>
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<arg if="$(arg localization)" name="rtabmap_args" default="--Mem/IncrementalMemory false"/>
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<arg unless="$(arg localization)" name="rtabmap_args" default="--Mem/IncrementalMemory true --delete_db_on_start"/>
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<!-- sync rgb/depth images and camera info per camera -->
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<group ns="camera_face">
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<node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync">
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<remap from="rgb/image" to="color/image_raw"/>
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<remap from="depth/image" to="depth/image_raw"/>
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<remap from="rgb/camera_info" to="color/camera_info"/>
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<param name="approx_sync" value="false"/>
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</node>
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</group>
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<group ns="camera_left">
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<node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync">
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<remap from="rgb/image" to="color/image_raw"/>
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<remap from="depth/image" to="depth/image_raw"/>
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<remap from="rgb/camera_info" to="color/camera_info"/>
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<param name="approx_sync" value="false"/>
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</node>
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</group>
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<group ns="camera_right">
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<node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync">
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<remap from="rgb/image" to="color/image_raw"/>
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<remap from="depth/image" to="depth/image_raw"/>
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<remap from="rgb/camera_info" to="color/camera_info"/>
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<param name="approx_sync" value="false"/>
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</node>
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</group>
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<group ns="rtabmap">
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<!-- sync all cameras together -->
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<node pkg="rtabmap_sync" type="rgbdx_sync" name="rgbdx_sync" output="screen">
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<remap from="rgbd_image0" to="/camera_left/rgbd_image"/>
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<remap from="rgbd_image1" to="/camera_face/rgbd_image"/>
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<remap from="rgbd_image2" to="/camera_right/rgbd_image"/>
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<param name="rgbd_cameras" type="int" value="3"/>
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</node>
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<!-- Odometry -->
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<node pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry" output="screen">
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<remap from="imu" to="/trunk_imu"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="frame_id" type="string" value="base"/>
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<param name="rgbd_cameras" type="int" value="0"/>
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<param name="wait_for_imu_to_init" type="bool" value="true"/>
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<param name="Odom/ImageDecimation" type="int" value="2"/>
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</node>
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<!-- Visual SLAM -->
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<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
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<remap from="imu" to="/trunk_imu"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="rgbd_cameras" type="int" value="0"/>
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<param name="frame_id" type="string" value="base"/>
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<param name="Grid/RangeMin" type="string" value="0.1"/> <!-- to avoid adding legs as obstacle in occupancy grid map -->
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<param name="Grid/MaxObstacleHeight" type="string" value="1"/>
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<param name="Mem/ImagePreDecimation" type="string" value="2"/>
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<param name="Mem/ImagePostDecimation" type="string" value="2"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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<node pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="frame_id" type="string" value="base"/>
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<param name="rgbd_cameras" type="int" value="0"/>
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</node>
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</group>
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</launch>
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