i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-09-14 15:20:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated launch files with split packages

Browse Source
This commit is contained in:
matlabbe
2023-02-26 18:05:08 -08:00
parent 66e727e1a4
commit 1a421cf5a5
16 changed files with 154 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_examples/launch/calibration/euroc_left.yaml
+30
View File
@@ -0,0 +1,30 @@
#%YAML:1.0
---
camera_name: MH_01_easy_left
image_width: 752
image_height: 480
camera_matrix:
rows: 3
cols: 3
data: [ 4.5865400000000000e+02, 0., 3.6721499999999997e+02, 0.,
4.5729599999999999e+02, 2.4837500000000000e+02, 0., 0., 1. ]
distortion_coefficients:
rows: 1
cols: 4
data: [ -2.8340810999999999e-01, 7.3959070000000002e-02,
1.9358999999999999e-04, 1.7618711400000001e-05 ]
distortion_model: plumb_bob
rectification_matrix:
rows: 3
cols: 3
data: [ 9.9996634750298619e-01, -1.4227432298321767e-03,
8.0795831104762770e-03, 1.3657459036274155e-03,
9.9997417608074302e-01, 7.0556296505566432e-03,
-8.0894128132919258e-03, -7.0443575534647465e-03,
9.9994246755850658e-01 ]
projection_matrix:
rows: 3
cols: 4
data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, 0., 0.,
4.3520469597145990e+02, 2.5220085144042969e+02, 0., 0., 0., 1.,
0. ]
rtabmap_examples/launch/calibration/euroc_right.yaml
+30
View File
@@ -0,0 +1,30 @@
#%YAML:1.0
---
camera_name: MH_01_easy_right
image_width: 752
image_height: 480
camera_matrix:
rows: 3
cols: 3
data: [ 4.5758699999999999e+02, 0., 3.7999900000000002e+02, 0.,
4.5613400000000001e+02, 2.5523800000000000e+02, 0., 0., 1. ]
distortion_coefficients:
rows: 1
cols: 4
data: [ -2.8368365000000001e-01, 7.4512839999999997e-02,
-1.0473000000000000e-04, -3.5559070000000001e-05 ]
distortion_model: plumb_bob
rectification_matrix:
rows: 3
cols: 3
data: [ 9.9996335257946345e-01, -3.6258159819210472e-03,
7.7554468926514068e-03, 3.6804026836554193e-03,
9.9996847525904631e-01, -7.0358456623254633e-03,
-7.7296917225483383e-03, 7.0641309842873097e-03,
9.9994517345668066e-01 ]
projection_matrix:
rows: 3
cols: 4
data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02,
-4.7906395664848930e+01, 0., 4.3520469597145990e+02,
2.5220085144042969e+02, 0., 0., 0., 1., 0. ]
rtabmap_examples/launch/euroc_datasets.launch.py
+11 -11
View File
@@ -4,11 +4,11 @@
# $ rosbags-convert V1_01_easy.bag
# $ rosbags-convert MH_01_easy.bag
#
# $ ros2 launch rtabmap_ros euroc_datasets.launch.py gt:=true
# $ ros2 launch rtabmap_examples euroc_datasets.launch.py gt:=true
# $ cd V1_01_easy
# $ ros2 bag play V1_01_easy.db3 --clock
#
# $ ros2 launch rtabmap_ros euroc_datasets.launch.py gt:=false
# $ ros2 launch rtabmap_examples euroc_datasets.launch.py gt:=false
# $ cd MH_01_easy
# $ ros2 bag play MH_01_easy.db3 --clock
@@ -61,13 +61,13 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='stereo_odometry', output='screen',
package='rtabmap_odom', executable='stereo_odometry', output='screen',
parameters=[parameters],
remappings=remappings),
Node(
condition=IfCondition(ground_truth),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters,
{ 'ground_truth_frame_id':'world',
'ground_truth_base_frame_id':'base_link_gt'}],
@@ -75,28 +75,28 @@ def generate_launch_description():
arguments=['-d']),
Node(
condition=UnlessCondition(ground_truth),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters],
remappings=remappings,
arguments=['-d']),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=[parameters],
remappings=remappings),
# Image rectification and publishing synchronized camera_info
Node(
package='rtabmap_ros', executable='yaml_to_camera_info.py', output='screen',
parameters=[{'yaml_path': [FindPackageShare('rtabmap_ros'), '/launch/calibration/euroc_left.yaml']}],
package='rtabmap_util', executable='yaml_to_camera_info.py', output='screen',
parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/launch/calibration/euroc_left.yaml']}],
remappings=[
('image', '/cam0/image_raw'),
('camera_info', 'left/camera_info')],
namespace='stereo_camera'),
Node(
package='rtabmap_ros', executable='yaml_to_camera_info.py', output='screen',
parameters=[{'yaml_path': [FindPackageShare('rtabmap_ros'), '/launch/calibration/euroc_right.yaml']}],
package='rtabmap_util', executable='yaml_to_camera_info.py', output='screen',
parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/launch/calibration/euroc_right.yaml']}],
remappings=[
('image', '/cam1/image_raw'),
('camera_info', 'right/camera_info')],
@@ -138,7 +138,7 @@ def generate_launch_description():
arguments=['0', '0', '0', '0', '0', '0', 'world', 'map']),
Node(
package='rtabmap_ros', executable='transform_to_tf.py', output='screen',
package='rtabmap_util', executable='transform_to_tf.py', output='screen',
parameters=[{'frame_id': 'world', 'child_frame_id': 'vicon/firefly_sbx/firefly_sbx'}],
remappings=[('transform', '/vicon/firefly_sbx/firefly_sbx')]),
])
rtabmap_examples/launch/k4a.launch.py
+4 -4
View File
@@ -3,7 +3,7 @@
# Install Azure_Kinect_ROS_Driver ros2 package (https://github.com/microsoft/Azure_Kinect_ROS_Driver/tree/humble)
# Install imu_filter_madgwick ros2 package
# Example:
# $ ros2 launch rtabmap_ros k4a.launch.py
# $ ros2 launch rtabmap_examples k4a.launch.py
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -30,7 +30,7 @@ def generate_launch_description():
# Visual odometry node
Node(
package='rtabmap_ros', executable='rgbd_odometry', output='screen',
package='rtabmap_odom', executable='rgbd_odometry', output='screen',
parameters=[{ 'frame_id':'camera_base',
'subscribe_odom_info':True,
'approx_sync':True,
@@ -46,14 +46,14 @@ def generate_launch_description():
# SLAM node
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=parameters,
remappings=remappings,
arguments=['-d']),
# Visualization node
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=parameters,
remappings=remappings),
rtabmap_examples/launch/realsense_d400.launch.py
+5 -5
View File
@@ -4,9 +4,9 @@
# Example:
# $ ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
#
# $ ros2 launch rtabmap_ros realsense_d400.launch.py
# $ ros2 launch rtabmap_examples realsense_d400.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py frame_id:=camera_link args:="-d" rgb_topic:=/camera/color/image_raw depth_topic:=/camera/aligned_depth_to_color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false
# $ ros2 launch rtabmap_launch rtabmap.launch.py frame_id:=camera_link args:="-d" rgb_topic:=/camera/color/image_raw depth_topic:=/camera/aligned_depth_to_color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -29,18 +29,18 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='rgbd_odometry', output='screen',
package='rtabmap_odom', executable='rgbd_odometry', output='screen',
parameters=parameters,
remappings=remappings),
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=parameters,
remappings=remappings,
arguments=['-d']),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=parameters,
remappings=remappings),
])
rtabmap_examples/launch/realsense_d435i_color.launch.py
+6 -6
View File
@@ -4,7 +4,7 @@
# Example:
# $ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=1 enable_sync:=true
#
# $ ros2 launch rtabmap_ros realsense_d435i_color.launch.py
# $ ros2 launch rtabmap_examples realsense_d435i_color.launch.py
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -29,25 +29,25 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='rgbd_odometry', output='screen',
package='rtabmap_odom', executable='rgbd_odometry', output='screen',
parameters=parameters,
remappings=remappings),
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=parameters,
remappings=remappings,
arguments=['-d']),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=parameters,
remappings=remappings),
# Because of this issue: https://github.com/IntelRealSense/realsense-ros/issues/2564
# Generate point cloud from not aligned depth
Node(
package='rtabmap_ros', executable='point_cloud_xyz', output='screen',
package='rtabmap_util', executable='point_cloud_xyz', output='screen',
parameters=[{'approx_sync':False}],
remappings=[('depth/image', '/camera/depth/image_rect_raw'),
('depth/camera_info', '/camera/depth/camera_info'),
@@ -55,7 +55,7 @@ def generate_launch_description():
# Generate aligned depth to color camera from the point cloud above
Node(
package='rtabmap_ros', executable='pointcloud_to_depthimage', output='screen',
package='rtabmap_util', executable='pointcloud_to_depthimage', output='screen',
parameters=[{ 'decimation':2,
'fixed_frame_id':'camera_link',
'fill_holes_size':1}],
rtabmap_examples/launch/realsense_d435i_infra.launch.py
+4 -4
View File
@@ -5,7 +5,7 @@
# $ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=1 enable_infra1:=true enable_infra2:=true enable_sync:=true
# $ ros2 param set /camera/camera depth_module.emitter_enabled 0
#
# $ ros2 launch rtabmap_ros realsense_d435i_infra.launch.py
# $ ros2 launch rtabmap_examples realsense_d435i_infra.launch.py
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -30,18 +30,18 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='rgbd_odometry', output='screen',
package='rtabmap_odom', executable='rgbd_odometry', output='screen',
parameters=parameters,
remappings=remappings),
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=parameters,
remappings=remappings,
arguments=['-d']),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=parameters,
remappings=remappings),
rtabmap_examples/launch/realsense_d435i_stereo.launch.py
+4 -4
View File
@@ -5,7 +5,7 @@
# $ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=1 enable_infra1:=true enable_infra2:=true enable_sync:=true
# $ ros2 param set /camera/camera depth_module.emitter_enabled 0
#
# $ ros2 launch rtabmap_ros realsense_d435i_stereo.launch.py
# $ ros2 launch rtabmap_examples realsense_d435i_stereo.launch.py
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -30,18 +30,18 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='stereo_odometry', output='screen',
package='rtabmap_odom', executable='stereo_odometry', output='screen',
parameters=parameters,
remappings=remappings),
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=parameters,
remappings=remappings,
arguments=['-d']),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=parameters,
remappings=remappings),
rtabmap_examples/launch/rgbdslam_datasets.launch.py
+4 -4
View File
@@ -11,7 +11,7 @@
# $ sudo pip install rosbags # See https://docs.openvins.com/dev-ros1-to-ros2.html
# $ rosbags-convert rgbd_dataset_freiburg3_long_office_household_frameid_fixed.bag
# $ ros2 launch rtabmap_ros rgbdslam_datasets.launch.py
# $ ros2 launch rtabmap_examples rgbdslam_datasets.launch.py
# $ cd rgbd_dataset_freiburg3_long_office_household_frameid_fixed
# $ ros2 bag play rgbd_dataset_freiburg3_long_office_household_frameid_fixed.db3 --clock
@@ -51,18 +51,18 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='rgbd_odometry', output='screen',
package='rtabmap_odom', executable='rgbd_odometry', output='screen',
parameters=parameters,
remappings=remappings),
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=parameters,
remappings=remappings,
arguments=['-d']),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=parameters,
remappings=remappings),
rtabmap_examples/launch/vlp16.launch.py
+5 -5
View File
@@ -3,7 +3,7 @@
# $ ros2 launch velodyne_pointcloud velodyne_transform_node-VLP16-launch.py
#
# SLAM:
# $ ros2 launch rtabmap_ros vlp16.launch.py
# $ ros2 launch rtabmap_examples vlp16.launch.py
from launch import LaunchDescription
@@ -29,7 +29,7 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='icp_odometry', output='screen',
package='rtabmap_odom', executable='icp_odometry', output='screen',
parameters=[{
'frame_id':'velodyne',
'odom_frame_id':'odom',
@@ -60,7 +60,7 @@ def generate_launch_description():
]),
Node(
package='rtabmap_ros', executable='point_cloud_assembler', output='screen',
package='rtabmap_util', executable='point_cloud_assembler', output='screen',
parameters=[{
'max_clouds':10,
'fixed_frame_id':'',
@@ -71,7 +71,7 @@ def generate_launch_description():
]),
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[{
'frame_id':'velodyne',
'subscribe_depth':False,
@@ -109,7 +109,7 @@ def generate_launch_description():
]),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=[{
'frame_id':'velodyne',
'odom_frame_id':'odom',
rtabmap_examples/package.xml
+4
View File
@@ -17,6 +17,10 @@
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_viz</exec_depend>
<exec_depend>imu_filter_madgwick</exec_depend>
<exec_depend>tf2_ros</exec_depend>
<exec_depend>realsense2-camera</exec_depend>
<exec_depend>velodyne</exec_depend>
<export>
<build_type>ament_cmake</build_type>