mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
68 lines
3.3 KiB
XML
68 lines
3.3 KiB
XML
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<launch>
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<!-- RGB-D LOCALIZATION VERSION -->
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<!-- Kinect -->
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<include file="$(find openni_launch)/launch/openni.launch">
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<arg name="depth_registration" value="True" />
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</include>
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<!-- TF FRAMES -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
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<!-- Odometry -->
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<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="camera/rgb/image_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/depth_registered/camera_info"/>
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<param name="frame_id" type="string" value="base_link"/>
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<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
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<param name="Odom/Type" type="string" value="1"/> <!-- 0=SURF/SIFT 1=FAST/BRIEF -->
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<param name="Odom/ResetCountdown" type="string" value="0"/> <!-- 0=disabled, otherwise countdown before auto-resetting odometry when lost. -->
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</node>
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<group ns="rtabmap">
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<!-- Visual SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="false"/>
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<remap from="rgb/image" to="/camera/rgb/image_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/depth_registered/camera_info"/>
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<remap from="odom" to="/odom"/>
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<param name="queue_size" type="int" value="30"/>
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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="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
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<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
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<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
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<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
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<param name="LccBow/MinInliers" type="string" value="10"/> <!-- Minimum inliers to accept a loop closure -->
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</node>
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<!-- Visualisation (client side) -->
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<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="false"/>
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<param name="queue_size" type="int" value="30"/>
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<remap from="rgb/image" to="/camera/rgb/image_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/depth_registered/camera_info"/>
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<remap from="odom" to="/odom"/>
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<remap from="reset_odom" to="/reset_odom"/> <!-- to call rtabmap/visual_odometry "reset_odom" service -->
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</node>
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</group>
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</launch>
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