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Updated with rtabmap-0.19.5, added tange_min and range_max parameters to point_cloud_assembler nodelet

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matlabbe
2019-08-01 16:31:10 -04:00
parent ca42a35709
commit 18ee9909fc
9 changed files with 611 additions and 234 deletions
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launch/tests/test_ouster.launch
+5 -5
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@@ -18,7 +18,7 @@
<arg name="frame_id" default="os1_sensor"/>
<arg name="rtabmapviz" default="true"/>
<arg name="scan_20_hz" default="false"/>
<arg name="scan_20_hz" default="true"/>
<arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
@@ -59,7 +59,7 @@
<param name="wait_imu_to_init" type="bool" value="true"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
@@ -69,11 +69,11 @@
<param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
<param name="Odom/ScanKeyFrameThr" type="string" value="0.95"/>
<param name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
@@ -109,7 +109,7 @@
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/VoxelSize" type="string" value="0.3"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="false"/>