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updated isaac demo with 3d lidar

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matlabbe
2021-12-07 21:26:29 -05:00
parent aef20f17b5
commit 0ad3d7bd7f
2 changed files with 28 additions and 4 deletions
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launch/demo/demo_husky.launch
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<!-- -->
<launch>
<!-- Bringup the Husky with SICK (2D LiDAR), realsense camera (RGB-D camera) and velodyne (3D LiDAR):
launch/demo/demo_isaac_carter_navigation.launch
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Note: carter_2dnav package can be copied to your catkin_ws from:
$ cp -r ~/.local/share/ov/pkg/isaac_sim-2021.2.0/ros_workspace/src/* ~/catkin_ws/src/.
For Lidar 3D Mode (lidar3d:=true), make sure in isaac sim that Carter robot is set with VLP16-like parameters (16 rings):
Under World -> Carter_ROS -> chassis_link -> carter_lidar -> highLod = True
-> verticalFov = 32
-> verticalResolution = 2
-> ROS_lidar -> pointCloudEnabled = True
-->
<param name="use_sim_time" value="true" />
<arg name="localization" default="false" />
<arg name="lidar3d" default="false" /> <!-- Best results if rtabmap is built with libpointmatcher -->
<arg name="lidar3d_ray_tracing" default="true" />
<arg name="lidar3d_grid3d" default="true" />
<!-- Load Robot Description -->
<arg name="model" default="$(find carter_description)/urdf/carter.urdf"/>
<param name="robot_description" textfile="$(arg model)" />
<!-- Lidar 3D based on demo_husky.launch -->
<arg if="$(arg lidar3d)" name="cell_size" default="0.2" />
<arg unless="$(arg lidar3d)" name="cell_size" default="0.05" />
<arg if="$(arg lidar3d)" name="args3d" value="--Icp/Iterations 10 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/PointToPlaneRadius 0 --Icp/MaxCorrespondenceDistance 1 --Grid/ClusterRadius 1 --Grid/RangeMax 10 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Mem/LaserScanNormalK --Grid/3D $(arg lidar3d_grid3d)" />
<arg unless="$(arg lidar3d)" name="args3d" value="--Grid/RangeMax 10" /> <!-- 2d scan, use default params -->
<!-- RTAB-Map -->
<remap from="/rtabmap/grid_map" to="/map"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true"/>
<arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true"/>
<arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true $(arg args3d)"/>
<arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true $(arg args3d)"/>
<arg name="localization" value="$(arg localization)"/>
<arg name="subscribe_scan" value="true"/>
<arg if="$(arg lidar3d)" name="subscribe_scan_cloud" value="true"/>
<arg unless="$(arg lidar3d)" name="subscribe_scan" value="true"/>
<arg name="visual_odometry" value="false"/>
<arg name="odom_topic" value="/odom"/>
<arg name="frame_id" value="base_link"/>
<arg name="depth_topic" value="/depth_left"/>
<arg name="rgb_topic" value="/rgb_left"/>
<arg name="camera_info_topic" value="/camera_info_left"/>
<arg name="scan_topic" value="/scan"/>
<arg name="scan_cloud_topic" value="/point_cloud"/>
<arg name="rgbd_sync" value="true"/>
<arg name="approx_rgbd_sync" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="scan_cloud_assembling" value="$(arg lidar3d)"/>
<arg name="scan_cloud_assembling_fixed_frame" value="odom"/>
<arg name="scan_cloud_assembling_range_max" value="60"/>
<arg name="scan_cloud_assembling_voxel_size" value="$(arg cell_size)"/>
</include>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">