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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-03-03 21:43:20 +00:00
parent 7d58681f34
commit 1764c88f05
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launch/demo/demo_appearance_localization.launch
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<launch>
<!-- APPEARANCE-BASED LOCALIZATION VERSION -->
<group ns="rtabmap">
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_laserScan" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="queue_size" type="int" value="10"/>
<remap from="rgb/image" to="/image"/> <!-- connect to "image" topic of the camera below -->
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/Enabled" type="string" value="false"/> <!-- False: appearance-based -->
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
<param name="Rtabmap/ImageBufferSize" type="string" value="0"/> <!-- process all images -->
<param name="Rtabmap/DetectionRate" type="string" value="0"/> <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/>
</node>
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen" args="-d $(find rtabmap)/launch/config/appearance_gui.ini">
<!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<param name="camera_node_name" type="string" value="/camera"/>
</node>
</group>
<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<remap from="image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap)/data" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
</node>
</launch>
launch/demo/demo_appearance_mapping.launch
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<launch>
<!-- APPEARANCE-BASED LOOP CLOSURE DETECTION VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<group ns="rtabmap">
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_laserScan" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="queue_size" type="int" value="10"/>
<remap from="rgb/image" to="/image"/> <!-- connect to "image" topic of the camera below -->
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/Enabled" type="string" value="false"/> <!-- False: appearance-based -->
<param name="Rtabmap/ImageBufferSize" type="string" value="0"/> <!-- process all images -->
<param name="Rtabmap/DetectionRate" type="string" value="0"/> <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
<param name="Mem/RehearsalSimilarity" type="string" value="0.4"/> <!-- 40% -->
<param name="Mem/STMSize" type="string" value="15"/> <!-- 15 locations in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="true"/> <!-- true = SLAM mode -->
<param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/> <!-- On merging, update to new ID-->
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/>
</node>
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen" args="-d $(find rtabmap)/launch/config/appearance_gui.ini">
<!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<param name="camera_node_name" type="string" value="/camera"/>
</node>
</group>
<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<remap from="image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap)/data" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
</node>
</launch>
launch/demo/demo_data_recorder.launch
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<launch>
<!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
<!-- This demo works with demo_mapping.bag -->
<param name="use_sim_time" type="bool" value="True"/>
<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
<param name="output_file_name" value="output.db" type="string"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_odometry" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
</node>
</launch>
launch/demo/demo_multi-session_mapping.launch
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<launch>
<!-- MULTI-SESSION MAPPING VERSION -->
<param name="use_sim_time" type="bool" value="True"/>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="0"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
<param name="LccIcp/Type" type="string" value="2"/>
<param name="LccIcp2/Iterations" type="string" value="100"/>
<param name="LccIcp2/VoxelSize" type="string" value="0"/>
<param name="LccBow/MinInliers" type="string" value="5"/>
<param name="LccBow/MaxDepth" type="string" value="4.0"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</launch>
launch/demo/demo_robot_localization.launch
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<launch>
<!-- ROBOT LOCALIZATION VERSION: use this with ROS bag demo_mapping.bag -->
<!-- A database "~/.ros/rtabmap.db" must be already created from -->
<!-- the "demo_robot_mapping.launch" demo -->
<!-- Once RTAB-Map GUI stated, you can do "Edit->Download Map" to get all the map in the GUI -->
<param name="use_sim_time" type="bool" value="True"/>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</launch>
launch/demo/demo_robot_mapping.launch
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<launch>
<!-- ROBOT MAPPING VERSION: use this with ROS bag demo_mapping.bag -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<param name="use_sim_time" type="bool" value="True"/>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</launch>
launch/demo/demo_robot_mapping_rviz.launch
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<launch>
<!-- ROBOT MAPPING VERSION: use this with ROS bag demo_mapping.bag -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<param name="use_sim_time" type="bool" value="True"/>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
</node>
<!-- Visualisation -->
<!-- Map assembler for rviz-->
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen" args="">
<param name="cloud_decimation" type="int" value="8"/>
<param name="cloud_max_depth" type="double" value="4"/>
<param name="cloud_voxel_size" type="double" value="0.02"/>
<param name="scan_voxel_size" type="double" value="0.01"/>
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
</launch>
launch/demo/kinect_frames.launch
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<!-- Default frames for Kinect/PSDK5 devices
Places depth and RGB cameras in the same plane with 2.5cm baseline.
Calibration may improve results, but these defaults are reasonably accurate.
-->
<launch>
<arg name="camera" default="camera" />
<arg name="ns" default="" />
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
args="0 -0.02 0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_depth_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
args="0 -0.045 0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_rgb_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
args="$(arg optical_rotate) $(arg ns)/$(arg camera)_depth_frame $(arg ns)/$(arg camera)_depth_optical_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
args="$(arg optical_rotate) $(arg ns)/$(arg camera)_rgb_frame $(arg ns)/$(arg camera)_rgb_optical_frame 100" />
</launch>
<!-- TODO Could instead store these in camera_pose_calibration format for consistency
with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->