mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
fixed MapCloud rviz plugin with rtabmap namespace property. rtabmap.launch.py: added "rviz" argument to start RVIZ with preconfigured displays. point_cloud_xyzrgb: added RGBA encoding support for stereo.
This commit is contained in:
matlabbe
@@ -1,173 +1,362 @@
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||||||
|
|
||||||
|
<scannerInfoProvider id="specsFile">
|
||||||
|
|
||||||
|
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</scannerInfoProvider>
|
||||||
|
|
||||||
|
</profile>
|
||||||
|
|
||||||
|
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||||
|
|
||||||
|
<buildOutputProvider>
|
||||||
|
|
||||||
|
<openAction enabled="true" filePath=""/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</buildOutputProvider>
|
||||||
|
|
||||||
|
<scannerInfoProvider id="specsFile">
|
||||||
|
|
||||||
|
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</scannerInfoProvider>
|
||||||
|
|
||||||
|
</profile>
|
||||||
|
|
||||||
|
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||||
|
|
||||||
|
<buildOutputProvider>
|
||||||
|
|
||||||
|
<openAction enabled="true" filePath=""/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</buildOutputProvider>
|
||||||
|
|
||||||
|
<scannerInfoProvider id="specsFile">
|
||||||
|
|
||||||
|
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</scannerInfoProvider>
|
||||||
|
|
||||||
|
</profile>
|
||||||
|
|
||||||
|
<scannerConfigBuildInfo instanceId="0.250647335">
|
||||||
|
|
||||||
|
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
|
||||||
|
|
||||||
|
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
|
||||||
|
|
||||||
|
<buildOutputProvider>
|
||||||
|
|
||||||
|
<openAction enabled="true" filePath=""/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</buildOutputProvider>
|
||||||
|
|
||||||
|
<scannerInfoProvider id="specsFile">
|
||||||
|
|
||||||
|
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</scannerInfoProvider>
|
||||||
|
|
||||||
|
</profile>
|
||||||
|
|
||||||
|
<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
|
||||||
|
|
||||||
|
<buildOutputProvider>
|
||||||
|
|
||||||
|
<openAction enabled="true" filePath=""/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</buildOutputProvider>
|
||||||
|
|
||||||
|
<scannerInfoProvider id="makefileGenerator">
|
||||||
|
|
||||||
|
<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</scannerInfoProvider>
|
||||||
|
|
||||||
|
</profile>
|
||||||
|
|
||||||
|
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
|
||||||
|
|
||||||
|
<buildOutputProvider>
|
||||||
|
|
||||||
|
<openAction enabled="true" filePath=""/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</buildOutputProvider>
|
||||||
|
|
||||||
|
<scannerInfoProvider id="specsFile">
|
||||||
|
|
||||||
|
<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</scannerInfoProvider>
|
||||||
|
|
||||||
|
</profile>
|
||||||
|
|
||||||
|
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
|
||||||
|
|
||||||
|
<buildOutputProvider>
|
||||||
|
|
||||||
|
<openAction enabled="true" filePath=""/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</buildOutputProvider>
|
||||||
|
|
||||||
|
<scannerInfoProvider id="specsFile">
|
||||||
|
|
||||||
|
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</scannerInfoProvider>
|
||||||
|
|
||||||
|
</profile>
|
||||||
|
|
||||||
|
<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
|
||||||
|
|
||||||
|
<buildOutputProvider>
|
||||||
|
|
||||||
|
<openAction enabled="true" filePath=""/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</buildOutputProvider>
|
||||||
|
|
||||||
|
<scannerInfoProvider id="specsFile">
|
||||||
|
|
||||||
|
<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
|
||||||
|
|
||||||
|
<parser enabled="true"/>
|
||||||
|
|
||||||
|
</scannerInfoProvider>
|
||||||
|
|
||||||
|
</profile>
|
||||||
|
|
||||||
|
</scannerConfigBuildInfo>
|
||||||
|
|
||||||
|
</storageModule>
|
||||||
|
|
||||||
|
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||||
|
|
||||||
|
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
|
||||||
|
|
||||||
|
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
|
||||||
|
|
||||||
</cproject>
|
</cproject>
|
||||||
|
|||||||
+12
-12
@@ -705,24 +705,24 @@ install(DIRECTORY include/${PROJECT_NAME}/
|
|||||||
)
|
)
|
||||||
|
|
||||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||||
install(FILES
|
#install(FILES
|
||||||
launch/ros2/turtlebot3_scan.launch.py
|
# launch/ros2/turtlebot3_scan.launch.py
|
||||||
launch/ros2/turtlebot3_rgbd.launch.py
|
# launch/ros2/turtlebot3_rgbd.launch.py
|
||||||
launch/ros2/turtlebot3_rgbd_sync.launch.py
|
# launch/ros2/turtlebot3_rgbd_sync.launch.py
|
||||||
launch/ros2/realsense_d400.launch.py
|
# launch/ros2/realsense_d400.launch.py
|
||||||
launch/ros2/rtabmap.launch.py
|
# launch/ros2/rtabmap.launch.py
|
||||||
# launch/rgbd_mapping.launch
|
# launch/rgbd_mapping.launch
|
||||||
# launch/stereo_mapping.launch
|
# launch/stereo_mapping.launch
|
||||||
# launch/data_recorder.launch
|
# launch/data_recorder.launch
|
||||||
# launch/rgbd_mapping_kinect2.launch
|
# launch/rgbd_mapping_kinect2.launch
|
||||||
DESTINATION share/${PROJECT_NAME}/launch
|
|
||||||
)
|
|
||||||
#install(DIRECTORY
|
|
||||||
# launch/config
|
|
||||||
# launch/data
|
|
||||||
# launch/demo
|
|
||||||
# DESTINATION share/${PROJECT_NAME}/launch
|
# DESTINATION share/${PROJECT_NAME}/launch
|
||||||
#)
|
#)
|
||||||
|
install(DIRECTORY
|
||||||
|
launch/ros2/.
|
||||||
|
# launch/data
|
||||||
|
# launch/demo
|
||||||
|
DESTINATION share/${PROJECT_NAME}/launch
|
||||||
|
)
|
||||||
|
|
||||||
## install plugins/nodelets xml
|
## install plugins/nodelets xml
|
||||||
#install(FILES
|
#install(FILES
|
||||||
|
|||||||
@@ -1,7 +1,36 @@
|
|||||||
rtabmap_ros [](https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml)
|
rtabmap_ros [](https://github.com/introlab/rtabmap_ros/actions/workflows/ros2.yml)
|
||||||
===========
|
===========
|
||||||
|
|
||||||
RTAB-Map's ROS2 package (branch `ros2`). **UNDER CONSTRUCTION**: currently most nodes are ported to ROS2, however they are not all tested yet. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on [rtabmap_ros](http://wiki.ros.org/rtabmap_ros)). See `launch/ros2` subfolder for some ROS2 examples with turtlebot3 in simulation (requires at least ROS2 Foxy).
|
RTAB-Map's ROS2 package (branch `ros2`). **UNDER CONSTRUCTION**: currently most nodes are ported to ROS2, however they are not all tested yet. The interface is the same than on ROS1 (parameters and topic names should still match ROS1 documentation on [rtabmap_ros](http://wiki.ros.org/rtabmap_ros)).
|
||||||
|
|
||||||
|
`rtabmap.launch` is also ported to ROS2 with same arguments. If you see [ROS1 examples](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) like this:
|
||||||
|
|
||||||
|
```bash
|
||||||
|
$ roslaunch zed_wrapper zed_no_tf.launch
|
||||||
|
|
||||||
|
$ roslaunch rtabmap_ros rtabmap.launch \
|
||||||
|
rtabmap_args:="--delete_db_on_start" \
|
||||||
|
rgb_topic:=/zed/zed_node/rgb/image_rect_color \
|
||||||
|
depth_topic:=/zed/zed_node/depth/depth_registered \
|
||||||
|
camera_info_topic:=/zed/zed_node/rgb/camera_info \
|
||||||
|
frame_id:=base_link \
|
||||||
|
approx_sync:=false
|
||||||
|
```
|
||||||
|
|
||||||
|
The ROS2 equivalent is (with those [lines](https://github.com/stereolabs/zed-ros2-wrapper/blob/b512dce6ad4565f4770273995b147122e735ca0f/zed_wrapper/config/common.yaml#L58-L60) set to false to avoid TF conflicts):
|
||||||
|
|
||||||
|
```bash
|
||||||
|
$ ros2 launch zed_wrapper zed.launch.py
|
||||||
|
|
||||||
|
$ ros2 launch rtabmap_ros rtabmap.launch.py \
|
||||||
|
rtabmap_args:="--delete_db_on_start" \
|
||||||
|
rgb_topic:=/zed/zed_node/rgb/image_rect_color \
|
||||||
|
depth_topic:=/zed/zed_node/depth/depth_registered \
|
||||||
|
camera_info_topic:=/zed/zed_node/rgb/camera_info \
|
||||||
|
frame_id:=base_link \
|
||||||
|
approx_sync:=false
|
||||||
|
```
|
||||||
|
|
||||||
|
|
||||||
# Installation
|
# Installation
|
||||||
|
|
||||||
@@ -14,11 +43,30 @@ RTAB-Map's ROS2 package (branch `ros2`). **UNDER CONSTRUCTION**: currently most
|
|||||||
$ colcon build
|
$ colcon build
|
||||||
```
|
```
|
||||||
|
|
||||||
# Example
|
# Example with Turtlebot3
|
||||||
```bash
|
|
||||||
$ export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/ros2_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models
|
|
||||||
$ export TURTLEBOT3_MODEL=waffle
|
|
||||||
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
|
|
||||||
$ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
|
|
||||||
```
|
|
||||||
|
|
||||||
|
1. Launch Turtlebot3 simulator:
|
||||||
|
```bash
|
||||||
|
$ export TURTLEBOT3_MODEL=waffle
|
||||||
|
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
|
||||||
|
|
||||||
|
$ export TURTLEBOT3_MODEL=waffle
|
||||||
|
$ ros2 run turtlebot3_teleop teleop_keyboard
|
||||||
|
```
|
||||||
|
|
||||||
|
2. Launch RTAB-Map:
|
||||||
|
```
|
||||||
|
$ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
|
||||||
|
|
||||||
|
# OR with rtabmap.launch.py
|
||||||
|
$ ros2 launch rtabmap_ros rtabmap.launch.py \
|
||||||
|
visual_odometry:=false \
|
||||||
|
frame_id:=base_footprint \
|
||||||
|
subscribe_scan:=true depth:=false \
|
||||||
|
approx_sync:=true \
|
||||||
|
odom_topic:=/odom \
|
||||||
|
scan_topic:=/scan \
|
||||||
|
args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" \
|
||||||
|
use_sim_time:=true
|
||||||
|
```
|
||||||
|
See [launch/ros2](https://github.com/introlab/rtabmap_ros/tree/ros2/launch/ros2) subfolder for some other ROS2 examples with turtlebot3 in simulation and a RGB-D camera.
|
||||||
|
|||||||
@@ -0,0 +1,339 @@
|
|||||||
|
Panels:
|
||||||
|
- Class: rviz_common/Displays
|
||||||
|
Help Height: 78
|
||||||
|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
|
||||||
|
- /Global Options1
|
||||||
|
- /Status1
|
||||||
|
Splitter Ratio: 0.5147058963775635
|
||||||
|
Tree Height: 505
|
||||||
|
- Class: rviz_common/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz_common/Tool Properties
|
||||||
|
Expanded:
|
||||||
|
- /2D Goal Pose1
|
||||||
|
- /Publish Point1
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.5886790156364441
|
||||||
|
- Class: rviz_common/Views
|
||||||
|
Expanded:
|
||||||
|
- /Current View1
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.5
|
||||||
|
Cell Size: 1
|
||||||
|
Class: rviz_default_plugins/Grid
|
||||||
|
Color: 160; 160; 164
|
||||||
|
Enabled: true
|
||||||
|
Line Style:
|
||||||
|
Line Width: 0.029999999329447746
|
||||||
|
Value: Lines
|
||||||
|
Name: Grid
|
||||||
|
Normal Cell Count: 0
|
||||||
|
Offset:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Plane: XY
|
||||||
|
Plane Cell Count: 10
|
||||||
|
Reference Frame: <Fixed Frame>
|
||||||
|
Value: true
|
||||||
|
- Class: rtabmap_ros/Info
|
||||||
|
Enabled: true
|
||||||
|
Name: Info
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /rtabmap/info
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rtabmap_ros/MapCloud
|
||||||
|
Cloud decimation: 4
|
||||||
|
Cloud from scan: false
|
||||||
|
Cloud max depth (m): 4
|
||||||
|
Cloud min depth (m): 0
|
||||||
|
Cloud voxel size (m): 0.009999999776482582
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: RGB8
|
||||||
|
Download graph: false
|
||||||
|
Download map: false
|
||||||
|
Download namespace: rtabmap
|
||||||
|
Enabled: true
|
||||||
|
Filter ceiling (m): 0
|
||||||
|
Filter floor (m): 0
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: MapCloud
|
||||||
|
Node filtering angle (degrees): 30
|
||||||
|
Node filtering radius (m): 0
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Points
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /rtabmap/mapData
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rtabmap_ros/MapGraph
|
||||||
|
Enabled: true
|
||||||
|
Global loop closure: 255; 0; 0
|
||||||
|
Landmark: 0; 128; 0
|
||||||
|
Local loop closure: 255; 255; 0
|
||||||
|
Merged neighbor: 255; 170; 0
|
||||||
|
Name: MapGraph
|
||||||
|
Neighbor: 0; 0; 255
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /rtabmap/mapGraph
|
||||||
|
User: 255; 0; 0
|
||||||
|
Value: true
|
||||||
|
Virtual: 255; 0; 255
|
||||||
|
- Class: rviz_default_plugins/TF
|
||||||
|
Enabled: true
|
||||||
|
Frame Timeout: 15
|
||||||
|
Frames:
|
||||||
|
All Enabled: true
|
||||||
|
base_link:
|
||||||
|
Value: true
|
||||||
|
map:
|
||||||
|
Value: true
|
||||||
|
odom:
|
||||||
|
Value: true
|
||||||
|
zed2_baro_link:
|
||||||
|
Value: true
|
||||||
|
zed2_camera_center:
|
||||||
|
Value: true
|
||||||
|
zed2_imu_link:
|
||||||
|
Value: true
|
||||||
|
zed2_left_camera_frame:
|
||||||
|
Value: true
|
||||||
|
zed2_left_camera_optical_frame:
|
||||||
|
Value: true
|
||||||
|
zed2_mag_link:
|
||||||
|
Value: true
|
||||||
|
zed2_right_camera_frame:
|
||||||
|
Value: true
|
||||||
|
zed2_right_camera_optical_frame:
|
||||||
|
Value: true
|
||||||
|
zed2_temp_left_link:
|
||||||
|
Value: true
|
||||||
|
zed2_temp_right_link:
|
||||||
|
Value: true
|
||||||
|
Marker Scale: 1
|
||||||
|
Name: TF
|
||||||
|
Show Arrows: true
|
||||||
|
Show Axes: true
|
||||||
|
Show Names: false
|
||||||
|
Tree:
|
||||||
|
map:
|
||||||
|
odom:
|
||||||
|
base_link:
|
||||||
|
zed2_camera_center:
|
||||||
|
zed2_baro_link:
|
||||||
|
{}
|
||||||
|
zed2_left_camera_frame:
|
||||||
|
zed2_imu_link:
|
||||||
|
{}
|
||||||
|
zed2_left_camera_optical_frame:
|
||||||
|
{}
|
||||||
|
zed2_temp_left_link:
|
||||||
|
{}
|
||||||
|
zed2_mag_link:
|
||||||
|
{}
|
||||||
|
zed2_right_camera_frame:
|
||||||
|
zed2_right_camera_optical_frame:
|
||||||
|
{}
|
||||||
|
zed2_temp_right_link:
|
||||||
|
{}
|
||||||
|
Update Interval: 0
|
||||||
|
Value: true
|
||||||
|
- Alpha: 0.699999988079071
|
||||||
|
Class: rviz_default_plugins/Map
|
||||||
|
Color Scheme: map
|
||||||
|
Draw Behind: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Map
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /rtabmap/map
|
||||||
|
Update Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /rtabmap/map_updates
|
||||||
|
Use Timestamp: false
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: RGB8
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: Odom Local Map
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Points
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /rtabmap/odom_local_map
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rviz_default_plugins/PointCloud2
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: RGB8
|
||||||
|
Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: Camera Cloud
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.009999999776482582
|
||||||
|
Style: Points
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /voxel_cloud
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: map
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- Class: rviz_default_plugins/Interact
|
||||||
|
Hide Inactive Objects: true
|
||||||
|
- Class: rviz_default_plugins/MoveCamera
|
||||||
|
- Class: rviz_default_plugins/Select
|
||||||
|
- Class: rviz_default_plugins/FocusCamera
|
||||||
|
- Class: rviz_default_plugins/Measure
|
||||||
|
Line color: 128; 128; 0
|
||||||
|
- Class: rviz_default_plugins/SetInitialPose
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /initialpose
|
||||||
|
- Class: rviz_default_plugins/SetGoal
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /goal_pose
|
||||||
|
- Class: rviz_default_plugins/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /clicked_point
|
||||||
|
Transformation:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/TF
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/ThirdPersonFollower
|
||||||
|
Distance: 1.8979769945144653
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.05999999865889549
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Focal Point:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Focal Shape Fixed Size: false
|
||||||
|
Focal Shape Size: 0.05000000074505806
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.009999999776482582
|
||||||
|
Pitch: 0.09539937227964401
|
||||||
|
Target Frame: base_link
|
||||||
|
Value: ThirdPersonFollower (rviz_default_plugins)
|
||||||
|
Yaw: 3.110400915145874
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 734
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: false
|
||||||
|
QMainWindow State: 000000ff00000000fd00000004000000000000015600000284fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000284000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000284fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000284000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003db0000028400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: false
|
||||||
|
Width: 1335
|
||||||
|
X: 211
|
||||||
|
Y: 105
|
||||||
@@ -3,6 +3,8 @@
|
|||||||
# "stdbuf -o L ros2 launch rtabmap_ros rtabmap.launch.py ..."
|
# "stdbuf -o L ros2 launch rtabmap_ros rtabmap.launch.py ..."
|
||||||
#
|
#
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
from launch import LaunchDescription, Substitution, LaunchContext
|
from launch import LaunchDescription, Substitution, LaunchContext
|
||||||
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, LogInfo, OpaqueFunction
|
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, LogInfo, OpaqueFunction
|
||||||
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PythonExpression
|
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PythonExpression
|
||||||
@@ -10,6 +12,7 @@ from launch.conditions import IfCondition, UnlessCondition
|
|||||||
from launch_ros.actions import Node
|
from launch_ros.actions import Node
|
||||||
from launch_ros.actions import SetParameter
|
from launch_ros.actions import SetParameter
|
||||||
from typing import Text
|
from typing import Text
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
|
||||||
#Based on https://answers.ros.org/question/363763/ros2-how-best-to-conditionally-include-a-prefix-in-a-launchpy-file/
|
#Based on https://answers.ros.org/question/363763/ros2-how-best-to-conditionally-include-a-prefix-in-a-launchpy-file/
|
||||||
class ConditionalText(Substitution):
|
class ConditionalText(Substitution):
|
||||||
@@ -304,9 +307,37 @@ def launch_setup(context, *args, **kwargs):
|
|||||||
condition=IfCondition(LaunchConfiguration("rtabmapviz")),
|
condition=IfCondition(LaunchConfiguration("rtabmapviz")),
|
||||||
arguments=[LaunchConfiguration("gui_cfg")],
|
arguments=[LaunchConfiguration("gui_cfg")],
|
||||||
prefix=LaunchConfiguration('launch_prefix'),
|
prefix=LaunchConfiguration('launch_prefix'),
|
||||||
namespace=LaunchConfiguration('namespace'))]
|
namespace=LaunchConfiguration('namespace')),
|
||||||
|
Node(
|
||||||
|
package='rviz2', executable='rviz2', output='screen',
|
||||||
|
condition=IfCondition(LaunchConfiguration("rviz")),
|
||||||
|
arguments=[["-d"], [LaunchConfiguration("rviz_cfg")]]),
|
||||||
|
Node(
|
||||||
|
package='rtabmap_ros', executable='point_cloud_xyzrgb', output='screen',
|
||||||
|
condition=IfCondition(LaunchConfiguration("rviz")),
|
||||||
|
parameters=[{
|
||||||
|
"decimation": 4,
|
||||||
|
"voxel_size": 0.0,
|
||||||
|
"approx_sync": LaunchConfiguration('approx_sync')
|
||||||
|
}],
|
||||||
|
remappings=[
|
||||||
|
('left/image', LaunchConfiguration('left_image_topic_relay')),
|
||||||
|
('right/image', LaunchConfiguration('right_image_topic_relay')),
|
||||||
|
('left/camera_info', LaunchConfiguration('left_camera_info_topic')),
|
||||||
|
('right/camera_info', LaunchConfiguration('right_camera_info_topic')),
|
||||||
|
('rgb/image', LaunchConfiguration('rgb_topic_relay')),
|
||||||
|
('depth/image', LaunchConfiguration('depth_topic_relay')),
|
||||||
|
('rgb/camera_info', LaunchConfiguration('camera_info_topic')),
|
||||||
|
('rgbd_image', LaunchConfiguration('rgbd_topic_relay')),
|
||||||
|
('cloud', 'voxel_cloud')]),
|
||||||
|
]
|
||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
|
|
||||||
|
config_rviz = os.path.join(
|
||||||
|
get_package_share_directory('rtabmap_ros'), 'launch', 'config', 'rgbd.rviz'
|
||||||
|
)
|
||||||
|
|
||||||
return LaunchDescription([
|
return LaunchDescription([
|
||||||
|
|
||||||
# Arguments
|
# Arguments
|
||||||
@@ -314,13 +345,15 @@ def generate_launch_description():
|
|||||||
|
|
||||||
DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
|
DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
|
||||||
DeclareLaunchArgument('rtabmapviz', default_value='true', description='Launch RTAB-Map UI (optional).'),
|
DeclareLaunchArgument('rtabmapviz', default_value='true', description='Launch RTAB-Map UI (optional).'),
|
||||||
|
DeclareLaunchArgument('rviz', default_value='false', description='Launch RVIZ (optional).'),
|
||||||
|
|
||||||
DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'),
|
DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'),
|
||||||
|
|
||||||
# Config files
|
# Config files
|
||||||
DeclareLaunchArgument('cfg', default_value='', description='To change RTAB-Map\'s parameters, set the path of config file (*.ini) generated by the standalone app.'),
|
DeclareLaunchArgument('cfg', default_value='', description='To change RTAB-Map\'s parameters, set the path of config file (*.ini) generated by the standalone app.'),
|
||||||
DeclareLaunchArgument('gui_cfg', default_value='~/.ros/rtabmap_gui.ini', description='Configuration path of rtabmapviz.'),
|
DeclareLaunchArgument('gui_cfg', default_value='~/.ros/rtabmap_gui.ini', description='Configuration path of rtabmapviz.'),
|
||||||
|
DeclareLaunchArgument('rviz_cfg', default_value=config_rviz, description='Configuration path of rviz2.'),
|
||||||
|
|
||||||
DeclareLaunchArgument('frame_id', default_value='base_link', description='Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".'),
|
DeclareLaunchArgument('frame_id', default_value='base_link', description='Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".'),
|
||||||
DeclareLaunchArgument('odom_frame_id', default_value='', description='If set, TF is used to get odometry instead of the topic.'),
|
DeclareLaunchArgument('odom_frame_id', default_value='', description='If set, TF is used to get odometry instead of the topic.'),
|
||||||
DeclareLaunchArgument('map_frame_id', default_value='map', description='Output map frame id (TF).'),
|
DeclareLaunchArgument('map_frame_id', default_value='map', description='Output map frame id (TF).'),
|
||||||
|
|||||||
@@ -22,7 +22,9 @@ def generate_launch_description():
|
|||||||
parameters=[{
|
parameters=[{
|
||||||
'frame_id':'base_footprint',
|
'frame_id':'base_footprint',
|
||||||
'use_sim_time':use_sim_time,
|
'use_sim_time':use_sim_time,
|
||||||
'subscribe_depth':True}]
|
'subscribe_depth':True,
|
||||||
|
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
|
||||||
|
}]
|
||||||
|
|
||||||
remappings=[
|
remappings=[
|
||||||
('rgb/image', '/intel_realsense_r200_depth/image_raw'),
|
('rgb/image', '/intel_realsense_r200_depth/image_raw'),
|
||||||
|
|||||||
@@ -25,8 +25,11 @@ def generate_launch_description():
|
|||||||
'use_sim_time':use_sim_time,
|
'use_sim_time':use_sim_time,
|
||||||
'subscribe_rgbd':True,
|
'subscribe_rgbd':True,
|
||||||
'subscribe_scan':True,
|
'subscribe_scan':True,
|
||||||
|
# RTAB-Map's parameters should be strings:
|
||||||
'Reg/Strategy':'1',
|
'Reg/Strategy':'1',
|
||||||
'RGBD/NeighborLinkRefining':'True'}]
|
'RGBD/NeighborLinkRefining':'True',
|
||||||
|
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
|
||||||
|
}]
|
||||||
|
|
||||||
remappings=[
|
remappings=[
|
||||||
('rgb/image', '/intel_realsense_r200_depth/image_raw'),
|
('rgb/image', '/intel_realsense_r200_depth/image_raw'),
|
||||||
|
|||||||
@@ -26,7 +26,9 @@ def generate_launch_description():
|
|||||||
'subscribe_scan':True,
|
'subscribe_scan':True,
|
||||||
'approx_sync':True,
|
'approx_sync':True,
|
||||||
'Reg/Strategy':'1',
|
'Reg/Strategy':'1',
|
||||||
'RGBD/NeighborLinkRefining':'True'}]
|
'RGBD/NeighborLinkRefining':'True',
|
||||||
|
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
|
||||||
|
}]
|
||||||
|
|
||||||
remappings=[
|
remappings=[
|
||||||
('scan', '/scan')]
|
('scan', '/scan')]
|
||||||
|
|||||||
@@ -3333,6 +3333,10 @@ void CoreWrapper::getMapDataCallback(
|
|||||||
|
|
||||||
res->data.header.stamp = now();
|
res->data.header.stamp = now();
|
||||||
res->data.header.frame_id = mapFrameId_;
|
res->data.header.frame_id = mapFrameId_;
|
||||||
|
RCLCPP_INFO(this->get_logger(), "rtabmap: Getting map (global=%s optimized=%s graphOnly=%s)...done!",
|
||||||
|
req->global_map?"true":"false",
|
||||||
|
req->optimized?"true":"false",
|
||||||
|
req->graph_only?"true":"false");
|
||||||
}
|
}
|
||||||
|
|
||||||
void CoreWrapper::getMapData2Callback(
|
void CoreWrapper::getMapData2Callback(
|
||||||
|
|||||||
@@ -323,11 +323,15 @@ void PointCloudXYZRGB::stereoCallback(
|
|||||||
if(!(imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
|
if(!(imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
|
||||||
imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
|
imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
|
||||||
imageLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
|
imageLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
|
||||||
imageLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
|
imageLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
|
||||||
|
imageLeft->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
|
||||||
|
imageLeft->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0) ||
|
||||||
!(imageRight->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
|
!(imageRight->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
|
||||||
imageRight->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
|
imageRight->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
|
||||||
imageRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
|
imageRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
|
||||||
imageRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
|
imageRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
|
||||||
|
imageRight->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0 ||
|
||||||
|
imageRight->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0))
|
||||||
{
|
{
|
||||||
RCLCPP_ERROR(this->get_logger(), "Input type must be image=mono8,mono16,rgb8,bgr8 (enc=%s)", imageLeft->encoding.c_str());
|
RCLCPP_ERROR(this->get_logger(), "Input type must be image=mono8,mono16,rgb8,bgr8 (enc=%s)", imageLeft->encoding.c_str());
|
||||||
return;
|
return;
|
||||||
|
|||||||
@@ -197,7 +197,6 @@ MapCloudDisplay::MapCloudDisplay()
|
|||||||
download_graph_ = new rviz_common::properties::BoolProperty( "Download graph", false,
|
download_graph_ = new rviz_common::properties::BoolProperty( "Download graph", false,
|
||||||
"Download the optimized global graph (without cloud data) using rtabmap/GetMap service.",
|
"Download the optimized global graph (without cloud data) using rtabmap/GetMap service.",
|
||||||
this, SLOT( downloadGraph() ), this );
|
this, SLOT( downloadGraph() ), this );
|
||||||
downloadNamespaceChanged();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
@@ -210,6 +209,8 @@ void MapCloudDisplay::onInitialize()
|
|||||||
updateStyle();
|
updateStyle();
|
||||||
updateBillboardSize();
|
updateBillboardSize();
|
||||||
updateAlpha();
|
updateAlpha();
|
||||||
|
|
||||||
|
downloadNamespaceChanged();
|
||||||
}
|
}
|
||||||
|
|
||||||
void MapCloudDisplay::loadTransformers()
|
void MapCloudDisplay::loadTransformers()
|
||||||
@@ -492,56 +493,60 @@ void MapCloudDisplay::downloadMap(bool graphOnly)
|
|||||||
{
|
{
|
||||||
RCLCPP_ERROR(rviz_ros_node_.lock()->get_raw_node()->get_logger(), "MapCloud plugin: DownloadMap still not working on ros2");
|
RCLCPP_ERROR(rviz_ros_node_.lock()->get_raw_node()->get_logger(), "MapCloud plugin: DownloadMap still not working on ros2");
|
||||||
return;
|
return;
|
||||||
// FIXME: ros2 seg fault:
|
// FIXME: ros2: can connect to client, rtabmap returns data but the callback here is never called?!
|
||||||
/*
|
/*
|
||||||
auto request = std::make_shared<rtabmap_ros::srv::GetMap::Request>();
|
auto request = std::make_shared<rtabmap_ros::srv::GetMap::Request>();
|
||||||
request->global = true;
|
request->global_map = false;
|
||||||
request->optimized = true;
|
request->optimized = true;
|
||||||
request->graph_only = graphOnly;
|
request->graph_only = graphOnly;
|
||||||
std::string rtabmapNs = download_namespace->getStdString();
|
std::string rtabmapNs = download_namespace->getStdString();
|
||||||
std::string srvName = uFormat("%s/get_map_data", rtabmapNs.c_str());
|
std::string srvName = uFormat("%s/get_map_data", rtabmapNs.c_str());
|
||||||
QMessageBox * messageBox = new QMessageBox(
|
// QMessageBox * messageBox = new QMessageBox(
|
||||||
QMessageBox::NoIcon,
|
// QMessageBox::NoIcon,
|
||||||
tr("Calling \"%1\" service...").arg(srvName.c_str()),
|
// tr("Calling \"%1\" service...").arg(srvName.c_str()),
|
||||||
tr("Downloading the map... please wait (rviz could become gray!)"),
|
// tr("Downloading the map... please wait (rviz could become gray!)"),
|
||||||
QMessageBox::NoButton);
|
// QMessageBox::NoButton);
|
||||||
messageBox->setAttribute(Qt::WA_DeleteOnClose, true);
|
// messageBox->setAttribute(Qt::WA_DeleteOnClose, true);
|
||||||
messageBox->show();
|
// messageBox->show();
|
||||||
QApplication::processEvents();
|
// QApplication::processEvents();
|
||||||
uSleep(100); // hack make sure the text in the QMessageBox is shown...
|
// uSleep(100); // hack make sure the text in the QMessageBox is shown...
|
||||||
QApplication::processEvents();
|
// QApplication::processEvents();
|
||||||
|
|
||||||
|
RVIZ_COMMON_LOG_WARNING(uFormat("Wait for service %s", srvName.c_str()));
|
||||||
auto client = rviz_ros_node_.lock()->get_raw_node()->create_client<rtabmap_ros::srv::GetMap>(srvName);
|
auto client = rviz_ros_node_.lock()->get_raw_node()->create_client<rtabmap_ros::srv::GetMap>(srvName);
|
||||||
if(client->wait_for_service(std::chrono::seconds(2)))
|
if(client->wait_for_service(std::chrono::seconds(1)))
|
||||||
{
|
{
|
||||||
using ServiceResponseFuture =
|
using ServiceResponseFuture = rclcpp::Client<rtabmap_ros::srv::GetMap>::SharedFuture;
|
||||||
rclcpp::Client<rtabmap_ros::srv::GetMap>::SharedFuture;
|
auto response_received_callback = [this, &graphOnly](ServiceResponseFuture future) {
|
||||||
auto response_received_callback = [this, &graphOnly, &messageBox](ServiceResponseFuture future) {
|
|
||||||
auto result = future.get();
|
auto result = future.get();
|
||||||
|
RVIZ_COMMON_LOG_WARNING(uFormat("Process data"));
|
||||||
if(graphOnly)
|
if(graphOnly)
|
||||||
{
|
{
|
||||||
messageBox->setText(tr("Updating the map (%1 nodes downloaded)...").arg(result->data.graph.poses.size()));
|
//messageBox->setText(tr("Updating the map (%1 nodes downloaded)...").arg(result->data.graph.poses.size()));
|
||||||
QApplication::processEvents();
|
//QApplication::processEvents();
|
||||||
processMapData(result->data);
|
processMapData(result->data);
|
||||||
messageBox->setText(tr("Updating the map (%1 nodes downloaded)... done!").arg(result->data.graph.poses.size()));
|
//messageBox->setText(tr("Updating the map (%1 nodes downloaded)... done!").arg(result->data.graph.poses.size()));
|
||||||
|
|
||||||
QTimer::singleShot(1000, messageBox, SLOT(close()));
|
// QTimer::singleShot(1000, messageBox, SLOT(close()));
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
messageBox->setText(tr("Creating all clouds (%1 poses and %2 clouds downloaded)...")
|
//messageBox->setText(tr("Creating all clouds (%1 poses and %2 clouds downloaded)...")
|
||||||
.arg(result->data.graph.poses.size()).arg(result->data.nodes.size()));
|
// .arg(result->data.graph.poses.size()).arg(result->data.nodes.size()));
|
||||||
QApplication::processEvents();
|
//QApplication::processEvents();
|
||||||
this->reset();
|
this->reset();
|
||||||
processMapData(result->data);
|
processMapData(result->data);
|
||||||
messageBox->setText(tr("Creating all clouds (%1 poses and %2 clouds downloaded)... done!")
|
//messageBox->setText(tr("Creating all clouds (%1 poses and %2 clouds downloaded)... done!")
|
||||||
.arg(result->data.graph.poses.size()).arg(result->data.nodes.size()));
|
// .arg(result->data.graph.poses.size()).arg(result->data.nodes.size()));
|
||||||
|
|
||||||
QTimer::singleShot(1000, messageBox, SLOT(close()));
|
// QTimer::singleShot(1000, messageBox, SLOT(close()));
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
RVIZ_COMMON_LOG_WARNING(uFormat("Calling service %s", srvName.c_str()));
|
||||||
auto result_future = client->async_send_request(request, response_received_callback);
|
auto result_future = client->async_send_request(request, response_received_callback);
|
||||||
|
RVIZ_COMMON_LOG_WARNING(uFormat("Wait"));
|
||||||
result_future.wait();
|
result_future.wait();
|
||||||
|
RVIZ_COMMON_LOG_WARNING(uFormat("Wait end"));
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
@@ -551,17 +556,15 @@ void MapCloudDisplay::downloadMap(bool graphOnly)
|
|||||||
srvName.c_str(),
|
srvName.c_str(),
|
||||||
rtabmapNs.c_str());
|
rtabmapNs.c_str());
|
||||||
RVIZ_COMMON_LOG_ERROR(msg);
|
RVIZ_COMMON_LOG_ERROR(msg);
|
||||||
messageBox->setText(msg.c_str());
|
//messageBox->setText(msg.c_str());
|
||||||
}
|
}*/
|
||||||
*/
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void MapCloudDisplay::downloadNamespaceChanged()
|
void MapCloudDisplay::downloadNamespaceChanged()
|
||||||
{
|
{
|
||||||
std::string rtabmapNs = download_namespace->getStdString();
|
std::string rtabmapNs = download_namespace->getStdString();
|
||||||
std::string topicName = uFormat("%s/republish_node_data", rtabmapNs.c_str());
|
std::string topicName = uFormat("%s/republish_node_data", rtabmapNs.c_str());
|
||||||
// FIXME: ros2 seg fault:
|
republishNodeDataPub_ = rviz_ros_node_.lock()->get_raw_node()->create_publisher<std_msgs::msg::Int32MultiArray>(topicName, 1);
|
||||||
//republishNodeDataPub_ = rviz_ros_node_.lock()->get_raw_node()->create_publisher<std_msgs::msg::Int32MultiArray>(topicName, 1);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void MapCloudDisplay::downloadMap()
|
void MapCloudDisplay::downloadMap()
|
||||||
|
|||||||
Reference in New Issue
Block a user