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updated launch azimut3 stereo...

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1852 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-13 22:42:46 +00:00
parent f90f6ea273
commit 0469106792
1 changed files with 14 additions and 11 deletions
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launch/azimut3/az3_mapping_robot_stereo.launch
+14 -11
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@@ -1,16 +1,20 @@
<launch> <launch>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni --> <!-- to record odom+image left+depth:
<include file="$(find az3_bringup)/az3_standalone.launch"/> rosbag record /odom_sync /camera/data_throttled_image/compressed /camera/data_throttled_camera_info /camera/data_throttled_image_depth/compressedDepth
<include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- "Disable" odometry from azimut3 --> <!-- "Disable" odometry from azimut3 -->
<group ns="base_controller"> <group ns="base_controller">
<param name="odom_frame_id" type="string" value="az3_odom"/> <param name="odom_frame_id" type="string" value="az3_odom"/>
<param name="base_frame_id" type="string" value="az3_base_link"/> <param name="base_frame_id" type="string" value="az3_base_link"/>
</group> </group>
<remap from="/base_controller/odom" to="/base_controller/az3_odom"/> <remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- Stereo camera --> <!-- Stereo camera -->
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" > <node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
@@ -28,7 +32,7 @@
<node pkg="tf" type="static_transform_publisher" name="camera_base_link" <node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" /> args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_base_link" <node pkg="tf" type="static_transform_publisher" name="base_to_camera_base_link"
args="0 0 66 0 0 0 base_link stereo_camera_base 100" /> args="0 0 0.90 0 0.40 0 base_link stereo_camera_base 100" />
<!-- Run the ROS package stereo_image_proc for image rectification and disparity computation --> <!-- Run the ROS package stereo_image_proc for image rectification and disparity computation -->
<group ns="/stereo_camera" > <group ns="/stereo_camera" >
@@ -41,7 +45,7 @@
<remap from="stereo" to="/stereo_camera"/> <remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/> <remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="base_footprint"/> <param name="base_link_frame_id" value="base_footprint"/>
<param name="odom_frame_id" value="/base_controller/odom"/> <param name="odom_frame_id" value="odom"/>
<param name="ref_frame_change_method" value="1"/> <param name="ref_frame_change_method" value="1"/>
</node> </node>
@@ -57,7 +61,7 @@
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/> <remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="depth/image" to="/stereo_camera/depth"/> <remap from="depth/image" to="/stereo_camera/depth"/>
<remap from="odom" to="/base_controller/odom"/> <remap from="odom" to="/stereo_odometer/odometry"/>
<param name="queue_size" type="int" value="30"/> <param name="queue_size" type="int" value="30"/>
@@ -70,11 +74,10 @@
<param name="LccBow/MinInliers" type="string" value="10"/> <param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/> <param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/MaxDepth" type="string" value="3"/> <param name="LccBow/MaxDepth" type="string" value="10"/>
<param name="LccReextract/FeatureType" type="string" value="4"/> <param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/> <param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/> <param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/> <param name="LccReextract/NNType" type="string" value="3"/>
</node> </node>
@@ -84,7 +87,7 @@
<remap from="rgb/image_in" to="/stereo_camera/left/image_rect_color"/> <remap from="rgb/image_in" to="/stereo_camera/left/image_rect_color"/>
<remap from="depth/image_in" to="/stereo_camera/depth"/> <remap from="depth/image_in" to="/stereo_camera/depth"/>
<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/> <remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
<remap from="odom_in" to="/base_controller/odom"/> <remap from="odom_in" to="/stereo_odometer/odometry"/>
<remap from="rgb/image_out" to="/camera/data_throttled_image"/> <remap from="rgb/image_out" to="/camera/data_throttled_image"/>
<remap from="depth/image_out" to="/camera/data_throttled_image_depth"/> <remap from="depth/image_out" to="/camera/data_throttled_image_depth"/>