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<launch>
<!--
Hand-held 3D lidar mapping example using only a Velodyne PUCK (no camera).
Prerequisities: rtabmap should be built with libpointmatcher
Example:
$ roslaunch rtabmap_ros test_velodyne.launch
$ rosrun rviz rviz -f map
$ Show TF and /rtabmap/cloud_map topics
-->
<arg name= "rtabmapviz" default= "true" />
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<arg name= "use_imu" default= "false" /> <!-- Assuming IMU fixed to lidar with /velodyne -> /imu_link TF -->
<arg name= "imu_topic" default= "/imu/data" />
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<arg name= "scan_20_hz" default= "false" /> <!-- If we launch the velodyne with "rpm:=1200" argument -->
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<arg name= "organize_cloud" default= "false" />
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<arg name= "use_sim_time" default= "false" />
<param if= "$(arg use_sim_time)" name= "use_sim_time" value= "true" />
<arg name= "frame_id" default= "velodyne" />
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<arg name= "resolution" default= "0.1" /> <!-- set 0.1-0.3 for indoor, set 0.3-0.5 for outdoor -->
<arg name= "floam" default= "false" /> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
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<include file= "$(find velodyne_pointcloud)/launch/VLP16_points.launch" >
<arg if= "$(arg scan_20_hz)" name= "rpm" value= "1200" />
<arg unless= "$(arg scan_20_hz)" name= "rpm" value= "600" />
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<arg name= "organize_cloud" value= "$(arg organize_cloud)" />
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</include>
<!-- IMU orientation estimation and publish tf accordingly to os1_sensor frame -->
<node if= "$(arg use_imu)" pkg= "rtabmap_ros" type= "imu_to_tf" name= "imu_to_tf" >
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<remap from= "imu/data" to= "$(arg imu_topic)" />
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<param name= "fixed_frame_id" value= "$(arg frame_id)_stabilized" />
<param name= "base_frame_id" value= "$(arg frame_id)" />
</node>
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<group ns= "rtabmap" >
<node pkg= "rtabmap_ros" type= "icp_odometry" name= "icp_odometry" output= "screen" >
<remap from= "scan_cloud" to= "/velodyne_points" />
<param name= "frame_id" type= "string" value= "$(arg frame_id)" />
<param name= "odom_frame_id" type= "string" value= "odom" />
<param if= "$(arg scan_20_hz)" name= "expected_update_rate" type= "double" value= "25" />
<param unless= "$(arg scan_20_hz)" name= "expected_update_rate" type= "double" value= "15" />
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<remap if= "$(arg use_imu)" from= "imu" to= "$(arg imu_topic)" />
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<param if= "$(arg use_imu)" name= "guess_frame_id" type= "string" value= "$(arg frame_id)_stabilized" />
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<param if= "$(arg use_imu)" name= "wait_imu_to_init" type= "bool" value= "true" />
<!-- ICP parameters -->
<param name= "Icp/PointToPlane" type= "string" value= "true" />
<param name= "Icp/Iterations" type= "string" value= "10" />
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<param if= "$(arg floam)" name= "Icp/VoxelSize" type= "string" value= "0" />
<param unless= "$(arg floam)" name= "Icp/VoxelSize" type= "string" value= "$(arg resolution)" />
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<param name= "Icp/DownsamplingStep" type= "string" value= "1" /> <!-- cannot be increased with ring-like lidar -->
<param name= "Icp/Epsilon" type= "string" value= "0.001" />
<param name= "Icp/PointToPlaneK" type= "string" value= "20" />
<param name= "Icp/PointToPlaneRadius" type= "string" value= "0" />
<param name= "Icp/MaxTranslation" type= "string" value= "2" />
<param name= "Icp/MaxCorrespondenceDistance" type= "string" value= "1" />
<param name= "Icp/PM" type= "string" value= "true" />
<param name= "Icp/PMOutlierRatio" type= "string" value= "0.7" />
<param name= "Icp/CorrespondenceRatio" type= "string" value= "0.01" />
<!-- Odom parameters -->
<param name= "Odom/ScanKeyFrameThr" type= "string" value= "0.9" />
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<param if= "$(arg floam)" name= "Odom/Strategy" type= "string" value= "11" />
<param unless= "$(arg floam)" name= "Odom/Strategy" type= "string" value= "0" />
<param name= "OdomF2M/ScanSubtractRadius" type= "string" value= "$(arg resolution)" />
<param name= "OdomF2M/ScanMaxSize" type= "string" value= "15000" />
<param name= "OdomLOAM/Sensor" type= "string" value= "0" /> <!-- select VLP16 format -->
<param name= "OdomLOAM/Resolution" type= "string" value= "$(arg resolution)" />
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</node>
<node pkg= "rtabmap_ros" type= "rtabmap" name= "rtabmap" output= "screen" args= "-d" >
<param name= "frame_id" type= "string" value= "$(arg frame_id)" />
<param name= "subscribe_depth" type= "bool" value= "false" />
<param name= "subscribe_rgb" type= "bool" value= "false" />
<param name= "subscribe_scan_cloud" type= "bool" value= "true" />
<param name= "approx_sync" type= "bool" value= "false" />
<remap from= "scan_cloud" to= "assembled_cloud" />
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<remap from= "imu" to= "$(arg imu_topic)" />
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<!-- RTAB-Map's parameters -->
<param name= "Rtabmap/DetectionRate" type= "string" value= "1" />
<param name= "RGBD/NeighborLinkRefining" type= "string" value= "false" />
<param name= "RGBD/ProximityBySpace" type= "string" value= "true" />
<param name= "RGBD/ProximityMaxGraphDepth" type= "string" value= "0" />
<param name= "RGBD/ProximityPathMaxNeighbors" type= "string" value= "1" />
<param name= "RGBD/AngularUpdate" type= "string" value= "0.05" />
<param name= "RGBD/LinearUpdate" type= "string" value= "0.05" />
<param name= "Mem/NotLinkedNodesKept" type= "string" value= "false" />
<param name= "Mem/STMSize" type= "string" value= "30" />
<!-- param name="Mem/LaserScanVoxelSize" type="string" value="0.1"/ -->
<!-- param name="Mem/LaserScanNormalK" type="string" value="10"/ -->
<!-- param name="Mem/LaserScanRadius" type="string" value="0"/ -->
<param name= "Reg/Strategy" type= "string" value= "1" />
<param name= "Grid/CellSize" type= "string" value= "0.1" />
<param name= "Grid/RangeMax" type= "string" value= "20" />
<param name= "Grid/ClusterRadius" type= "string" value= "1" />
<param name= "Grid/GroundIsObstacle" type= "string" value= "true" />
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<param name= "Optimizer/GravitySigma" type= "string" value= "0.3" />
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<!-- ICP parameters -->
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<param name= "Icp/VoxelSize" type= "string" value= "$(arg resolution)" />
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<param name= "Icp/PointToPlaneK" type= "string" value= "20" />
<param name= "Icp/PointToPlaneRadius" type= "string" value= "0" />
<param name= "Icp/PointToPlane" type= "string" value= "true" />
<param name= "Icp/Iterations" type= "string" value= "10" />
<param name= "Icp/Epsilon" type= "string" value= "0.001" />
<param name= "Icp/MaxTranslation" type= "string" value= "3" />
<param name= "Icp/MaxCorrespondenceDistance" type= "string" value= "1" />
<param name= "Icp/PM" type= "string" value= "true" />
<param name= "Icp/PMOutlierRatio" type= "string" value= "0.7" />
<param name= "Icp/CorrespondenceRatio" type= "string" value= "0.4" />
</node>
<node if= "$(arg rtabmapviz)" name= "rtabmapviz" pkg= "rtabmap_ros" type= "rtabmapviz" output= "screen" >
<param name= "frame_id" type= "string" value= "$(arg frame_id)" />
<param name= "odom_frame_id" type= "string" value= "odom" />
<param name= "subscribe_odom_info" type= "bool" value= "true" />
<param name= "subscribe_scan_cloud" type= "bool" value= "true" />
<param name= "approx_sync" type= "bool" value= "false" />
<remap from= "scan_cloud" to= "/velodyne_points" />
</node>
<node pkg= "nodelet" type= "nodelet" name= "point_cloud_assembler" args= "standalone rtabmap_ros/point_cloud_assembler" output= "screen" >
<remap from= "cloud" to= "/velodyne_points" />
<remap from= "odom" to= "odom" />
<param if= "$(arg scan_20_hz)" name= "max_clouds" type= "int" value= "20" />
<param unless= "$(arg scan_20_hz)" name= "max_clouds" type= "int" value= "10" />
<param name= "fixed_frame_id" type= "string" value= "" />
</node>
</group>
</launch>
