mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
65 lines
3.0 KiB
XML
65 lines
3.0 KiB
XML
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<launch>
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<!-- ROBOT MAPPING VERSION: use this with ROS bag demo_mapping.bag -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<param name="use_sim_time" type="bool" value="True"/>
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<!-- 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="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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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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<remap from="odom" to="/az3/base_controller/odom"/>
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<remap from="scan" to="/jn0/base_scan"/>
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<remap from="rgb/image" to="data_throttled_image"/>
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<remap from="depth/image" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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<param name="queue_size" type="int" value="10"/>
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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/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Laser scan matching when near (using estimated position) old locations in WM -->
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Don't find loop closures in time (i.e. with locations in STM) -->
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</node>
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<!-- Visualisation -->
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<!-- Map assembler for rviz-->
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<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen" args="">
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<param name="cloud_decimation" type="int" value="4"/>
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<param name="cloud_voxel_size" type="double" value="0.02"/>
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<param name="scan_voxel_size" type="double" value="0.01"/>
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</node>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_throttled_image"/>
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<remap from="depth/image" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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