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Added new arguments (approximate_sync for stereo, rtabmapviz_cfg and rviz_cfg) to main launch files

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matlabbe
2015-08-07 13:00:32 -04:00
parent 033aecfe63
commit 091bf0b7be
3 changed files with 37 additions and 21 deletions
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launch/stereo_mapping.launch
+25 -17
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@@ -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>