i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap_examples: updated usyd_dataset.launch

Browse Source
This commit is contained in:
matlabbe
2023-04-23 19:14:10 -07:00
parent 3766d03602
commit 1d01511a05
1 changed files with 15 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_examples/launch/usyd_dataset.launch
+15 -10
View File
@@ -9,15 +9,20 @@
roslaunch rtabmap_examples usyd_dataset.launch cameras:=true roslaunch rtabmap_examples usyd_dataset.launch cameras:=true
--> -->
<arg name="rtabmap_viz" default="true"/> <arg name="rtabmap_viz" default="true"/>
<arg name="deskewing" default="true"/> <arg name="deskewing" default="true"/>
<arg name="cameras" default="false"/> <arg name="cameras" default="false"/>
<arg name="resolution" default="0.5"/> <arg name="resolution" default="0.5"/>
<arg name="local_map_size" default="10000"/> <arg name="local_map_size" default="10000"/>
<arg name="key_frame_thr" default="0.5"/> <arg name="key_frame_thr" default="0.5"/>
<arg name="append" default="false"/> <!-- true: don't delete previous db, create new session -->
<arg if="$(arg append)" name="rtabmap_args" value=""/>
<arg unless="$(arg append)" name="rtabmap_args" value="-d"/> <!-- delete previous db -->
<!-- Regenerate lidar point clouds with timestamps --> <!-- Regenerate lidar point clouds with timestamps -->
<node pkg="nodelet" type="nodelet" name="velodyne_transform" args="standalone velodyne_pointcloud/TransformNodelet" ns="velodyne/front"> <node pkg="nodelet" type="nodelet" name="velodyne_transform" args="standalone velodyne_pointcloud/TransformNodelet" ns="velodyne/front">
<param name="model" value="VLP16"/> <param name="model" value="VLP16"/>
@@ -91,12 +96,12 @@
<param name="Icp/PointToPlane" type="string" value="false"/> <param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/Iterations" type="string" value="10"/> <param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/> <param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
<param name="Icp/PointToPlaneK" type="string" value="0"/>
<param name="Icp/MaxTranslation" type="string" value="2"/> <param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/OutlierRatio" type="string" value="0.7"/> <param name="Icp/OutlierRatio" type="string" value="0.7"/>
<param name="Icp/PMMatcherKnn" type="string" value="3"/> <param name="Icp/PMMatcherKnn" type="string" value="3"/>
<param name="Icp/PMMatcherEpsilon" type="string" value="0.001"/> <param name="Icp/PMMatcherEpsilon" type="string" value="0.001"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*3)"/> <param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*3)"/>
<param name="Icp/PointToPlaneGroundNormalsUp" type="string" value="0.9"/>
<!-- Odom parameters --> <!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="$(arg key_frame_thr)"/> <param name="Odom/ScanKeyFrameThr" type="string" value="$(arg key_frame_thr)"/>
@@ -105,7 +110,7 @@
</node> </node>
<!-- SLAM --> <!-- SLAM -->
<node pkg="rtabmap_slam" type="rtabmap" name="rtabmap" output="screen" args="-d"> <node pkg="rtabmap_slam" type="rtabmap" name="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value=""/> <param name="odom_frame_id" type="string" value=""/>
<param name="odom_sensor_sync" type="bool" value="true"/> <param name="odom_sensor_sync" type="bool" value="true"/>
@@ -132,6 +137,7 @@
<!-- RTAB-Map's parameters --> <!-- RTAB-Map's parameters -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/LoopGPS" type="string" value="false"/> <!-- GPS can be quite wrong in that dataset-->
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/> <param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/> <param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
@@ -157,10 +163,9 @@
<param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/> <param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
<param name="Icp/PointToPlane" type="string" value="false"/> <param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/Iterations" type="string" value="30"/> <param name="Icp/Iterations" type="string" value="30"/>
<param name="Icp/MaxTranslation" type="string" value="5"/> <param name="Icp/MaxTranslation" type="string" value="10"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="3"/> <param name="Icp/MaxCorrespondenceDistance" type="string" value="3"/>
<param name="Icp/OutlierRatio" type="string" value="0.7"/> <param name="Icp/OutlierRatio" type="string" value="0.7"/>
<param name="Icp/PointToPlaneGroundNormalsUp" type="string" value="0.9"/>
</node> </node>
<node if="$(arg rtabmap_viz)" name="rtabmap_viz" pkg="rtabmap_viz" type="rtabmap_viz"> <node if="$(arg rtabmap_viz)" name="rtabmap_viz" pkg="rtabmap_viz" type="rtabmap_viz">