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Added test_two_kinects_one_map.launch. Removed tf_prefix parameter (frame_id, odom_frame_id and map_frame_id should be set directly)

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matlabbe
2017-04-04 12:55:31 -04:00
parent b0ee4b6398
commit 18d09f0405
4 changed files with 82 additions and 51 deletions
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launch/tests/test_two_kinects_one_map.launch
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<launch>
<!-- Testing 2 Kinects localizing in the same map at the same time -->
<!-- Prerequisities: the default ~/.ros/rtabmap.db should be
already created with one of the Kinect using mapping tutorial:
http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="-.-delete_db_on_start"
-->
<!-- Cameras -->
<include file="$(find freenect_launch)/launch/freenect.launch">
<arg name="depth_registration" value="True" />
<arg name="camera" value="camera1" />
<arg name="device_id" value="#1" />
</include>
<include file="$(find freenect_launch)/launch/freenect.launch">
<arg name="depth_registration" value="True" />
<arg name="camera" value="camera2" />
<arg name="device_id" value="#2" />
</include>
<node pkg="tf" type="static_transform_publisher" name="world_to_map1"
args="0 0 0 0 0 0 world map1 100" />
<node pkg="tf" type="static_transform_publisher" name="world_to_map2"
args="0 0 0 0 0 0 world map2 100" />
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="namespace" value="rtabmap1"/>
<arg name="localization" value="true" />
<arg name="frame_id" value="camera1_link" />
<arg name="map_frame_id" value="map1" />
<arg name="vo_frame_id" value="odom1" />
<arg name="rgb_topic" value="/camera1/rgb/image_rect_color" />
<arg name="depth_topic" value="/camera1/depth_registered/image_raw" />
<arg name="camera_info_topic" value="/camera1/rgb/camera_info" />
<arg name="rtabmapviz" value="false"/>
</include>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="namespace" value="rtabmap2"/>
<arg name="localization" value="true" />
<arg name="frame_id" value="camera2_link" />
<arg name="map_frame_id" value="map2" />
<arg name="vo_frame_id" value="odom2" />
<arg name="rgb_topic" value="/camera2/rgb/image_rect_color" />
<arg name="depth_topic" value="/camera2/depth_registered/image_raw" />
<arg name="camera_info_topic" value="/camera2/rgb/camera_info" />
<arg name="rtabmapviz" value="false"/>
</include>
<!-- Visualization RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
</launch>