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MsgConversion.h: added conversion of rtabmap_ros/Info messages from/to rtabmap::Statistics

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rtabmapviz: added subscription to stereo.
Updated demo_stereo_outdoor.launch with arguments to choose between rtabmapviz and rviz
Added localPath array in rtabmap_ros/Info message
rtabmap: publishing the local path, uniformized time stamps between published topics at each iteration
This commit is contained in:
Mathieu Labbe
2015-02-03 11:16:06 -05:00
parent a78cbb533c
commit 0b67fe4e3b
8 changed files with 611 additions and 193 deletions
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launch/demo/demo_stereo_outdoor.launch
+23 -3
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@@ -13,6 +13,10 @@
$ roslaunch rtabmap demo_stereo_outdoor.launch
$ rosbag play -.-clock stereo_oudoorA.bag
-->
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<param name="use_sim_time" type="bool" value="True"/>
@@ -51,6 +55,7 @@
<param name="OdomBow/NNDR" type="string" value="0.8"/>
<param name="GFTT/MaxCorners" type="string" value="500"/>
<param name="GFTT/MinDistance" type="string" value="5"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
</node>
<group ns="rtabmap">
@@ -94,15 +99,30 @@
<!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
<node if="$(arg rviz)" pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
<param name="occupancy_grid" type="bool" value="true"/>
<remap from="mapData" to="mapData_optimized"/>
<remap from="grid_projection_map" to="/map"/>
</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">
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom_info" to="/odom_info"/>
<remap from="odom" to="/odometry"/>
<remap from="mapData" to="mapData_optimized"/>
</node>
</group>
<!-- RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_stereo_outdoor.rviz"/>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_stereo_outdoor.rviz"/>
</launch>