mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Updated az3_mapping_robot_kinect_scan.launch demo
This commit is contained in:
matlabbe
@@ -1,69 +1,128 @@
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<launch>
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<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
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<arg name="rtabmap_args" default="" />
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<arg name="localization_mode" default="false" />
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<!-- AZIMUT 3 bringup: launch motors/odometry -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- OpenNI -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- SLAM (robot side) -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<param name="use_action_for_goal" type="bool" value="true"/>
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<remap from="scan" to="/kinect_scan"/>
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<remap from="odom" to="/base_controller/odom"/>
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<remap from="goal_out" to="current_goal"/>
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<remap from="move_base" to="/planner/move_base"/>
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<remap from="grid_map" to="/map"/>
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<!-- RTAB-Map's parameters -->
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<param unless="$(arg localization_mode)" name="Rtabmap/TimeThr" type="string" value="400"/>
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<param if="$(arg localization_mode)" name="Memory/Incremental" type="string" value="false"/>
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<param name="RGBD/PoseScanMatching" type="string" value="true"/>
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<param name="RGBD/LocalRadius" type="string" value="4"/>
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<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="RGBD/OptimizeSlam2d" type="string" value="true"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
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<param name="RGBD/OptimizeVarianceIgnored" type="string" value="false"/>
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<param name="RGBD/PlanAngularVelocity" type="string" value="1.0"/> <!-- preference for path traversed forward -->
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<param name="LccBow/Force2D" type="string" value="true"/>
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<param name="LccIcp/Type" type="string" value="2"/>
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</node>
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</group>
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<!-- teleop -->
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<node name="joy" pkg="joy" type="joy_node"/>
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<group ns="teleop">
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<remap from="joy" to="/joy"/>
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<node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
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<param name="cmd_eta/abtr_priority" value="50"/>
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</group>
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<!-- ROS navigation stack move_base -->
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<group ns="planner">
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<remap from="base_scan" to="/kinect_scan"/>
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<remap from="obstacles_cloud" to="/obstacles_cloud"/>
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<remap from="ground_cloud" to="/ground_cloud"/>
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<remap from="map" to="/map"/>
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<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
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<param name="base_global_planner" value="navfn/NavfnROS"/>
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<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
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<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
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</node>
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<param name="cmd_vel/abtr_priority" value="10"/>
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</group>
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<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
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<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
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</node>
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<!-- Arbitration between teleop and planner -->
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<node name="register_cmd_eta" pkg="abtr_priority" type="register"
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args="/cmd_eta /teleop/cmd_eta"/>
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<node name="register_cmd_vel" pkg="abtr_priority" type="register"
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args="/cmd_vel /planner/cmd_vel"/>
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<!-- Throttling messages -->
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
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<param name="rate" type="double" value="5.0"/>
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
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<param name="rate" type="double" value="5"/>
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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<remap from="rgb/image_out" to="throttled_image"/>
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<remap from="depth/image_out" to="throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="throttled_camera_info"/>
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</node>
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<!-- for the planner -->
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<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
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<remap from="depth/image" to="throttled_image_depth"/>
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<remap from="depth/camera_info" to="throttled_camera_info"/>
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<remap from="cloud" to="cloudXYZ" />
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<param name="decimation" type="int" value="2"/>
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<param name="max_depth" type="double" value="4.0"/>
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<param name="voxel_size" type="double" value="0.02"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
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<remap from="cloud" to="cloudXYZ"/>
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<remap from="obstacles" to="/obstacles_cloud"/>
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<remap from="ground" to="/ground_cloud"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="map_frame_id" type="string" value="map"/>
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<param name="wait_for_transform" type="bool" value="true"/>
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<param name="min_cluster_size" type="int" value="20"/>
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<param name="max_obstacles_height" type="double" value="0.4"/>
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<param name="ground_normal_angle" type="double" value="0.1"/>
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</node>
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<!-- scan from the camera -->
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<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager">
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<remap from="image" to="depth_registered/image_raw"/>
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<remap from="image" to="depth_registered/image_raw"/>
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<remap from="camera_info" to="depth_registered/camera_info"/>
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<remap from="scan" to="/kinect_scan"/>
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<remap from="scan" to="/kinect_scan"/>
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<param name="range_max" type="double" value="4"/>
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</node>
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</group>
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<remap from="odom" to="/base_controller/odom"/>
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<remap from="scan" to="/kinect_scan"/>
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<remap from="rgb/image" to="/camera/data_throttled_image"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
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<param name="queue_size" type="int" value="10"/>
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<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
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<param name="Kp/MaxDepth" type="string" value="4.0"/>
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<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
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<param name="LccIcp2/Iterations" type="string" value="100"/>
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<param name="LccIcp2/VoxelSize" type="string" value="0"/>
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<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.5"/>
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<param name="LccBow/MinInliers" type="string" value="3"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="LccBow/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
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<param name="LccBow/InlierDistance" type="string" value="0.05"/> <!-- 3D visual words correspondence distance -->
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<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
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<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
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</node>
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</group>
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</launch>
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@@ -17,7 +17,7 @@ obstacle_layer:
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laser_scan_sensor: {
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data_type: LaserScan,
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topic: base_scan,
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expected_update_rate: 0.2,
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expected_update_rate: 0.1,
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marking: true,
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clearing: true
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}
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@@ -26,7 +26,7 @@ obstacle_layer:
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sensor_frame: base_footprint,
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data_type: PointCloud2,
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topic: obstacles_cloud,
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expected_update_rate: 0.5,
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expected_update_rate: 0.2,
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marking: true,
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clearing: true,
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min_obstacle_height: 0.04
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@@ -36,10 +36,10 @@ obstacle_layer:
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sensor_frame: base_footprint,
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data_type: PointCloud2,
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topic: ground_cloud,
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expected_update_rate: 0.5,
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expected_update_rate: 0.2,
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marking: false,
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clearing: true,
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min_obstacle_height: -1.0 # make usre the ground is not filtered
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min_obstacle_height: -1.0 # make sure the ground is not filtered
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}
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@@ -1,7 +1,7 @@
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global_frame: odom
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robot_base_frame: base_footprint
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update_frequency: 2
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publish_frequency: 1
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update_frequency: 5
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publish_frequency: 2
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rolling_window: true
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width: 3.0
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height: 3.0
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