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Added test_k4a_cloud_only.launch example

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matlabbe
2020-08-21 15:28:41 -04:00
parent c12123625d
commit 0662e0328a
1 changed files with 70 additions and 0 deletions
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launch/tests/test_k4a_cloud_only.launch
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<launch>
<arg name="rtabmapviz" default="true"/>
<include file="$(find azure_kinect_ros_driver)/launch/driver.launch">
<arg name="point_cloud" value="false"/>
<arg name="rgb_point_cloud" value="false"/>
<arg name="fps" value="15"/>
</include>
<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="points_xyz" args="standalone rtabmap_ros/point_cloud_xyz" output="screen">
<remap from="depth/image" to="/depth_to_rgb/image_raw"/>
<remap from="depth/camera_info" to="/depth_to_rgb/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="decimation" type="double" value="4"/>
<param name="voxel_size" type="double" value="0.05"/>
<param name="max_depth" type="double" value="5"/>
<param name="normal_k" type="int" value="10"/>
<param name="approx_sync" type="bool" value="false"/>
</node>
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="voxel_cloud"/>
<param name="frame_id" type="string" value="camera_base"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<!-- Odom parameters -->
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.05"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="5000"/>
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="frame_id" type="string" value="camera_base"/>
<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="voxel_cloud"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="RGBD/ProximityOdomGuess" type="string" value="true"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/MaxTranslation" type="string" value="0.5"/>
</node>
<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
<param name="frame_id" type="string" value="camera_base"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_depth" type="bool" value="false"/>
<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="voxel_cloud"/>
</node>
</group>
</launch>