mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Added new arguments (approximate_sync for stereo, rtabmapviz_cfg and rviz_cfg) to main launch files
This commit is contained in:
matlabbe
@@ -9,6 +9,10 @@
|
||||
<arg name="rviz" default="false" />
|
||||
<arg name="rtabmapviz" default="true" />
|
||||
|
||||
<!-- Corresponding config files -->
|
||||
<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
|
||||
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
|
||||
|
||||
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
|
||||
<arg name="time_threshold" default="0"/> <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
|
||||
<arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
|
||||
@@ -84,7 +88,7 @@
|
||||
</node>
|
||||
|
||||
<!-- Visualisation RTAB-Map -->
|
||||
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen" launch-prefix="$(arg launch_prefix)">
|
||||
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
|
||||
<param name="subscribe_depth" type="bool" value="true"/>
|
||||
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
|
||||
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
|
||||
@@ -100,7 +104,7 @@
|
||||
</group>
|
||||
|
||||
<!-- Visualization RVIZ -->
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
|
||||
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
|
||||
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
|
||||
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
|
||||
|
||||
@@ -24,6 +24,10 @@
|
||||
<!-- Choose visualization -->
|
||||
<arg name="rviz" default="false" />
|
||||
<arg name="rtabmapviz" default="true" />
|
||||
|
||||
<!-- Corresponding config files -->
|
||||
<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
|
||||
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
|
||||
|
||||
<!-- ODOMETRY MAIN ARGUMENTS:
|
||||
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
|
||||
@@ -87,7 +91,7 @@
|
||||
</node>
|
||||
|
||||
<!-- Visualisation RTAB-Map -->
|
||||
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
|
||||
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
|
||||
<param name="subscribe_depth" type="bool" value="true"/>
|
||||
<param name="subscribe_odom_info" type="bool" value="true"/>
|
||||
<param name="approx_sync" type="bool" value="true"/>
|
||||
@@ -101,7 +105,7 @@
|
||||
</group>
|
||||
|
||||
<!-- Visualization RVIZ -->
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
|
||||
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
|
||||
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
|
||||
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
|
||||
|
||||
@@ -5,9 +5,13 @@
|
||||
Example:
|
||||
$ roslaunch rtabmap_ros bumblebee.launch -->
|
||||
|
||||
<!-- Choose visualization -->
|
||||
<arg name="rviz" default="false" />
|
||||
<!-- Choose visualization -->
|
||||
<arg name="rtabmapviz" default="true" />
|
||||
<arg name="rviz" default="false" />
|
||||
|
||||
<!-- Corresponding config files -->
|
||||
<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
|
||||
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
|
||||
|
||||
<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
|
||||
<arg name="time_threshold" default="0"/> <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
|
||||
@@ -19,6 +23,7 @@
|
||||
<arg name="right_image_topic" default="/stereo_camera/right/image_rect" /> <!-- using grayscale image for efficiency -->
|
||||
<arg name="left_camera_info_topic" default="/stereo_camera/left/camera_info" />
|
||||
<arg name="right_camera_info_topic" default="/stereo_camera/right/camera_info" />
|
||||
<arg name="approximate_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
|
||||
|
||||
<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
|
||||
<arg name="scan_topic" default="/scan"/>
|
||||
@@ -47,15 +52,16 @@
|
||||
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
|
||||
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
|
||||
|
||||
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
||||
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
|
||||
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
||||
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
|
||||
<param name="approx_sync" type="bool" value="$(arg approximate_sync)"/>
|
||||
|
||||
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
|
||||
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
|
||||
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
|
||||
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
|
||||
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
|
||||
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
|
||||
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
|
||||
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
|
||||
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
|
||||
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
|
||||
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
|
||||
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
|
||||
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
|
||||
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
|
||||
</node>
|
||||
@@ -66,9 +72,10 @@
|
||||
<param name="subscribe_depth" type="bool" value="false"/>
|
||||
<param name="subscribe_stereo" type="bool" value="true"/>
|
||||
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
|
||||
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
||||
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
|
||||
<param name="database_path" type="string" value="$(arg database_path)"/>
|
||||
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
||||
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
|
||||
<param name="database_path" type="string" value="$(arg database_path)"/>
|
||||
<param name="stereo_approx_sync" type="bool" value="$(arg approximate_sync)"/>
|
||||
|
||||
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
|
||||
<remap from="right/image_rect" to="$(arg right_image_topic)"/>
|
||||
@@ -89,7 +96,7 @@
|
||||
</node>
|
||||
|
||||
<!-- Visualisation RTAB-Map -->
|
||||
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
|
||||
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
|
||||
<param name="subscribe_depth" type="bool" value="false"/>
|
||||
<param name="subscribe_stereo" type="bool" value="true"/>
|
||||
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
|
||||
@@ -107,7 +114,7 @@
|
||||
</group>
|
||||
|
||||
<!-- Visualization RVIZ -->
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
|
||||
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
|
||||
<remap from="left/image" to="$(arg left_image_topic)"/>
|
||||
<remap from="right/image" to="$(arg right_image_topic)"/>
|
||||
@@ -115,8 +122,9 @@
|
||||
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
|
||||
<remap from="cloud" to="voxel_cloud" />
|
||||
|
||||
<param name="decimation" type="double" value="2"/>
|
||||
<param name="voxel_size" type="double" value="0.02"/>
|
||||
<param name="decimation" type="double" value="2"/>
|
||||
<param name="voxel_size" type="double" value="0.02"/>
|
||||
<param name="approx_sync" type="bool" value="$(arg approximate_sync)"/>
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
|
||||
Reference in New Issue
Block a user