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Updated az3_mapping_robot_kinect_scan.launch demo

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matlabbe
2015-11-06 14:52:37 -05:00
parent facfbbb9dc
commit 1cba7053d0
3 changed files with 120 additions and 61 deletions
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launch/azimut3/az3_mapping_robot_kinect_scan.launch
+114 -55
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@@ -1,69 +1,128 @@
<launch>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<arg name="rtabmap_args" default="" />
<arg name="localization_mode" default="false" />
<!-- AZIMUT 3 bringup: launch motors/odometry -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_out" to="data_throttled_image"/>
<remap from="depth/image_out" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
</node>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager">
<remap from="image" to="depth_registered/image_raw"/>
<remap from="camera_info" to="depth_registered/camera_info"/>
<remap from="scan" to="/kinect_scan"/>
<param name="range_max" type="double" value="4"/>
</node>
</group>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/kinect_scan"/>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="use_action_for_goal" type="bool" value="true"/>
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<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/LocalLoopDetectionSpace" type="string" value="false"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccIcp2/Iterations" type="string" value="100"/>
<param name="LccIcp2/VoxelSize" type="string" value="0"/>
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.5"/>
<param name="LccBow/MinInliers" type="string" value="3"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="LccBow/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.05"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<remap from="scan" to="/kinect_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters -->
<param unless="$(arg localization_mode)" name="Rtabmap/TimeThr" type="string" value="400"/>
<param if="$(arg localization_mode)" name="Memory/Incremental" type="string" value="false"/>
<param name="RGBD/PoseScanMatching" type="string" value="true"/>
<param name="RGBD/LocalRadius" type="string" value="4"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/OptimizeSlam2d" type="string" value="true"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="RGBD/OptimizeVarianceIgnored" type="string" value="false"/>
<param name="RGBD/PlanAngularVelocity" type="string" value="1.0"/> <!-- preference for path traversed forward -->
<param name="LccBow/Force2D" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/>
</node>
</group>
<!-- teleop -->
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
<remap from="joy" to="/joy"/>
<node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
<param name="cmd_eta/abtr_priority" value="50"/>
</group>
<!-- ROS navigation stack move_base -->
<group ns="planner">
<remap from="base_scan" to="/kinect_scan"/>
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
</node>
<!-- Arbitration between teleop and planner -->
<node name="register_cmd_eta" pkg="abtr_priority" type="register"
args="/cmd_eta /teleop/cmd_eta"/>
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
args="/cmd_vel /planner/cmd_vel"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="5"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_out" to="throttled_image"/>
<remap from="depth/image_out" to="throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="throttled_camera_info"/>
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
<remap from="depth/image" to="throttled_image_depth"/>
<remap from="depth/camera_info" to="throttled_camera_info"/>
<remap from="cloud" to="cloudXYZ" />
<param name="decimation" type="int" value="2"/>
<param name="max_depth" type="double" value="4.0"/>
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.4"/>
<param name="ground_normal_angle" type="double" value="0.1"/>
</node>
<!-- scan from the camera -->
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager">
<remap from="image" to="depth_registered/image_raw"/>
<remap from="camera_info" to="depth_registered/camera_info"/>
<remap from="scan" to="/kinect_scan"/>
<param name="range_max" type="double" value="4"/>
</node>
</group>
</launch>
launch/azimut3/config/costmap_common_params_2d.yaml
+4 -4
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@@ -17,7 +17,7 @@ obstacle_layer:
laser_scan_sensor: {
data_type: LaserScan,
topic: base_scan,
expected_update_rate: 0.2,
expected_update_rate: 0.1,
marking: true,
clearing: true
}
@@ -26,7 +26,7 @@ obstacle_layer:
sensor_frame: base_footprint,
data_type: PointCloud2,
topic: obstacles_cloud,
expected_update_rate: 0.5,
expected_update_rate: 0.2,
marking: true,
clearing: true,
min_obstacle_height: 0.04
@@ -36,10 +36,10 @@ obstacle_layer:
sensor_frame: base_footprint,
data_type: PointCloud2,
topic: ground_cloud,
expected_update_rate: 0.5,
expected_update_rate: 0.2,
marking: false,
clearing: true,
min_obstacle_height: -1.0 # make usre the ground is not filtered
min_obstacle_height: -1.0 # make sure the ground is not filtered
}
launch/azimut3/config/local_costmap_params.yaml
+2 -2
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@@ -1,7 +1,7 @@
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 2
publish_frequency: 1
update_frequency: 5
publish_frequency: 2
rolling_window: true
width: 3.0
height: 3.0