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ros-pkg: added disparity_odom_sync nodelet

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1917 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-23 17:02:13 +00:00
parent dcb4f3e928
commit 0c003c6cc2
4 changed files with 133 additions and 6 deletions
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launch/azimut3/az3_mapping_robot_stereo_nav.launch
+13 -6
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@@ -61,16 +61,17 @@
<!-- TF transforms for the stereo camera -->
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
<node pkg="tf" type="static_transform_publisher" name="stereo_camera_base_link"
args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_base_link"
<node pkg="tf" type="static_transform_publisher" name="base_to_stereo_camera_base_link"
args="0.01 0.06 0.90 0 0.2 0 base_link stereo_camera_base 100" />
<!-- Run the ROS package stereo_image_proc for image rectification-->
<group ns="/stereo_camera" >
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
Throttle camera images to 5 Hz (), odometry on azimut cannot run over 5Hz -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap/stereo_throttle">
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap/stereo_throttle stereo_nodelet">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
@@ -86,9 +87,14 @@
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="standalone rtabmap/point_cloud_xyz">
<remap from="disparity/image" to="disparity"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
<node pkg="nodelet" type="nodelet" name="disparity_odom_sync" args="load rtabmap/disparity_odom_sync stereo_nodelet">
<remap from="disparity" to="disparity"/>
<remap from="camera_info" to="right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap/point_cloud_xyz stereo_nodelet">
<remap from="disparity/image" to="disparity_sync"/>
<remap from="disparity/camera_info" to="camera_info_sync"/>
<remap from="cloud" to="/planner_cloud"/>
<param name="voxel_size" type="double" value="0.05"/>
@@ -158,6 +164,7 @@
</node>
<node pkg="rtabmap" type="map_assembler" name="map_assembler">
<param name="occupancy_grid" type="bool" value="true"/>
<remap from="grid_projection_map" to="/map"/>
</node>
</group>