mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Added demo turtlebot launch files
This commit is contained in:
Mathieu Labbe
@@ -0,0 +1,446 @@
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|||||||
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Panels:
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||||||
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- Class: rviz/Displays
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||||||
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Help Height: 78
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||||||
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Name: Displays
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Property Tree Widget:
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||||||
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Expanded:
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||||||
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- /TF1/Frames1
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- /TF1/Tree1
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- /Global Map1/Costmap1
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- /Global Map1/Planner1
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||||||
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- /Local Map1/Costmap1
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- /Local Map1/Planner1
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||||||
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Splitter Ratio: 0.5
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||||||
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Tree Height: 481
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||||||
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- Class: rviz/Selection
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||||||
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Name: Selection
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||||||
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- Class: rviz/Tool Properties
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||||||
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Expanded:
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||||||
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- /2D Pose Estimate1
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||||||
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- /2D Nav Goal1
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||||||
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Name: Tool Properties
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||||||
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Splitter Ratio: 0.588679
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||||||
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- Class: rviz/Views
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||||||
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Expanded:
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||||||
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- /Current View1
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||||||
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Name: Views
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||||||
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Splitter Ratio: 0.5
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||||||
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- Class: rviz/Time
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||||||
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Experimental: false
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||||||
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Name: Time
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||||||
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SyncMode: 0
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||||||
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SyncSource: Rtabmap cloud
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||||||
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Visualization Manager:
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||||||
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Class: ""
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||||||
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Displays:
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||||||
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- Alpha: 0.5
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||||||
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Cell Size: 1
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||||||
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Class: rviz/Grid
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||||||
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Color: 160; 160; 164
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||||||
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Enabled: true
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||||||
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Line Style:
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||||||
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Line Width: 0.03
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||||||
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Value: Lines
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||||||
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Name: Grid
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||||||
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Normal Cell Count: 0
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||||||
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Offset:
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||||||
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X: 0
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||||||
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Y: 0
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||||||
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Z: 0
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||||||
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Plane: XY
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||||||
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Plane Cell Count: 10
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||||||
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Reference Frame: <Fixed Frame>
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||||||
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Value: true
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||||||
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- Alpha: 1
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||||||
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Class: rviz/RobotModel
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||||||
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Collision Enabled: false
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||||||
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Enabled: true
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||||||
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Links:
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||||||
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All Links Enabled: true
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||||||
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Expand Joint Details: false
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||||||
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Expand Link Details: false
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||||||
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Expand Tree: false
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||||||
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Link Tree Style: Links in Alphabetic Order
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base_footprint:
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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base_link:
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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Value: true
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||||||
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camera_depth_frame:
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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camera_depth_optical_frame:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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camera_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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camera_rgb_frame:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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camera_rgb_optical_frame:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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caster_back_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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caster_front_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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cliff_sensor_front_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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cliff_sensor_left_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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cliff_sensor_right_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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gyro_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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plate_bottom_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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plate_middle_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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plate_top_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_bottom_0_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_bottom_1_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_bottom_2_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_bottom_3_link:
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_bottom_4_link:
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_bottom_5_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_kinect_0_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_kinect_1_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_middle_0_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_middle_1_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
|
pole_middle_2_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_middle_3_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_top_0_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_top_1_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_top_2_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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pole_top_3_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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wheel_left_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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wheel_right_link:
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||||||
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Alpha: 1
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||||||
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Show Axes: false
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||||||
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Show Trail: false
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||||||
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Value: true
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||||||
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Name: RobotModel
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||||||
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Robot Description: robot_description
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||||||
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TF Prefix: ""
|
||||||
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Update Interval: 0
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||||||
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Value: true
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||||||
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Visual Enabled: true
|
||||||
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- Class: rviz/TF
|
||||||
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Enabled: false
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||||||
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Frame Timeout: 15
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||||||
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Frames:
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||||||
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All Enabled: false
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||||||
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Marker Scale: 1
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||||||
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Name: TF
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||||||
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Show Arrows: true
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||||||
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Show Axes: true
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||||||
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Show Names: false
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||||||
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Tree:
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||||||
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{}
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||||||
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Update Interval: 0
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||||||
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Value: false
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||||||
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- Alpha: 1
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||||||
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Autocompute Intensity Bounds: true
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||||||
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Autocompute Value Bounds:
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||||||
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Max Value: 10
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||||||
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Min Value: -10
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||||||
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Value: true
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||||||
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Axis: Z
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||||||
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Channel Name: intensity
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||||||
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Class: rviz/LaserScan
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||||||
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Color: 255; 255; 255
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||||||
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Color Transformer: Intensity
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||||||
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Decay Time: 0
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||||||
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Enabled: true
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||||||
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Invert Rainbow: false
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||||||
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Max Color: 255; 255; 255
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||||||
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Max Intensity: 4096
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||||||
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Min Color: 0; 0; 0
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||||||
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Min Intensity: 0
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||||||
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Name: LaserScan
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||||||
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Position Transformer: XYZ
|
||||||
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Queue Size: 10
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||||||
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Selectable: true
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||||||
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Size (Pixels): 3
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||||||
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Size (m): 0.01
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||||||
|
Style: Squares
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||||||
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Topic: /scan
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||||||
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Use Fixed Frame: true
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||||||
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Use rainbow: true
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||||||
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Value: true
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||||||
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- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
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||||||
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Autocompute Value Bounds:
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||||||
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Max Value: 10
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||||||
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Min Value: -10
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||||||
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Value: true
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||||||
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Axis: Z
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||||||
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Channel Name: intensity
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||||||
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Class: rviz/PointCloud2
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||||||
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Color: 255; 0; 0
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||||||
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Color Transformer: FlatColor
|
||||||
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Decay Time: 0
|
||||||
|
Enabled: true
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
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||||||
|
Min Color: 0; 0; 0
|
||||||
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Min Intensity: 0
|
||||||
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Name: Bumper Hit
|
||||||
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Position Transformer: XYZ
|
||||||
|
Queue Size: 10
|
||||||
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Selectable: true
|
||||||
|
Size (Pixels): 3
|
||||||
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Size (m): 0.08
|
||||||
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Style: Spheres
|
||||||
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Topic: /mobile_base/sensors/bumper_pointcloud
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||||||
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Use Fixed Frame: true
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||||||
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Use rainbow: true
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||||||
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Value: true
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||||||
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- Alpha: 0.7
|
||||||
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Class: rviz/Map
|
||||||
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Color Scheme: map
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||||||
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Draw Behind: false
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||||||
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Enabled: true
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||||||
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Name: Map
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||||||
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Topic: /map
|
||||||
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Value: true
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||||||
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- Class: rviz/Group
|
||||||
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Displays:
|
||||||
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- Alpha: 0.7
|
||||||
|
Class: rviz/Map
|
||||||
|
Color Scheme: costmap
|
||||||
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Draw Behind: true
|
||||||
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Enabled: true
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||||||
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Name: Costmap
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||||||
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Topic: /move_base/global_costmap/costmap
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||||||
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Value: true
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||||||
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- Alpha: 1
|
||||||
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Buffer Length: 1
|
||||||
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Class: rviz/Path
|
||||||
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Color: 255; 0; 0
|
||||||
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Enabled: true
|
||||||
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Name: Planner
|
||||||
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Topic: /move_base/TrajectoryPlannerROS/global_plan
|
||||||
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Value: true
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||||||
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Enabled: true
|
||||||
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Name: Global Map
|
||||||
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- Class: rviz/Group
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.7
|
||||||
|
Class: rviz/Map
|
||||||
|
Color Scheme: costmap
|
||||||
|
Draw Behind: false
|
||||||
|
Enabled: true
|
||||||
|
Name: Costmap
|
||||||
|
Topic: /move_base/local_costmap/costmap
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Buffer Length: 1
|
||||||
|
Class: rviz/Path
|
||||||
|
Color: 0; 12; 255
|
||||||
|
Enabled: true
|
||||||
|
Name: Planner
|
||||||
|
Topic: /move_base/TrajectoryPlannerROS/local_plan
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Name: Local Map
|
||||||
|
- Arrow Length: 0.2
|
||||||
|
Class: rviz/PoseArray
|
||||||
|
Color: 0; 192; 0
|
||||||
|
Enabled: true
|
||||||
|
Name: Amcl Particles
|
||||||
|
Topic: /particlecloud
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Autocompute Intensity Bounds: true
|
||||||
|
Autocompute Value Bounds:
|
||||||
|
Max Value: 10
|
||||||
|
Min Value: -10
|
||||||
|
Value: true
|
||||||
|
Axis: Z
|
||||||
|
Channel Name: intensity
|
||||||
|
Class: rtabmap_ros/MapCloud
|
||||||
|
Cloud decimation: 4
|
||||||
|
Cloud max depth (m): 4
|
||||||
|
Cloud voxel size (m): 0.01
|
||||||
|
Color: 255; 255; 255
|
||||||
|
Color Transformer: RGB8
|
||||||
|
Download graph: false
|
||||||
|
Download map: false
|
||||||
|
Enabled: true
|
||||||
|
Filter floor (m): 0
|
||||||
|
Invert Rainbow: false
|
||||||
|
Max Color: 255; 255; 255
|
||||||
|
Max Intensity: 4096
|
||||||
|
Min Color: 0; 0; 0
|
||||||
|
Min Intensity: 0
|
||||||
|
Name: Rtabmap cloud
|
||||||
|
Node filtering angle (degrees): 30
|
||||||
|
Node filtering radius (m): 0.2
|
||||||
|
Position Transformer: XYZ
|
||||||
|
Size (Pixels): 3
|
||||||
|
Size (m): 0.01
|
||||||
|
Style: Points
|
||||||
|
Topic: /rtabmap/mapData
|
||||||
|
Use Fixed Frame: true
|
||||||
|
Use rainbow: true
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: map
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- Class: rviz/MoveCamera
|
||||||
|
- Class: rviz/Interact
|
||||||
|
Hide Inactive Objects: true
|
||||||
|
- Class: rviz/Select
|
||||||
|
- Class: rviz/SetInitialPose
|
||||||
|
Topic: /initialpose
|
||||||
|
- Class: rviz/SetGoal
|
||||||
|
Topic: /move_base_simple/goal
|
||||||
|
- Class: rviz/Measure
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Class: rviz/Orbit
|
||||||
|
Distance: 7.70311
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.06
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Focal Point:
|
||||||
|
X: 0.00901246
|
||||||
|
Y: -0.126793
|
||||||
|
Z: 0.0121136
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.01
|
||||||
|
Pitch: 1.5348
|
||||||
|
Target Frame: base_link
|
||||||
|
Value: Orbit (rviz)
|
||||||
|
Yaw: 3.12411
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 694
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: false
|
||||||
|
QMainWindow State: 000000ff00000000fd0000000400000000000001e500000270fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000270000000dd00ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000270000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002df0000027000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Time:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: false
|
||||||
|
Width: 1503
|
||||||
|
X: 106
|
||||||
|
Y: 188
|
||||||
@@ -0,0 +1,64 @@
|
|||||||
|
|
||||||
|
<launch>
|
||||||
|
<!--
|
||||||
|
Usage:
|
||||||
|
$ roslaunch turtlebot_bringup minimal.launch
|
||||||
|
$ roslaunch rtabmap_ros turtlebot_mapping.launch
|
||||||
|
|
||||||
|
Visualization:
|
||||||
|
$ roslaunch turtlebot_rviz_launchers view_navigation.launch
|
||||||
|
|
||||||
|
This launch file is a one to one replacement of the gmapping_demo.launch in this tutorial:
|
||||||
|
http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM
|
||||||
|
-->
|
||||||
|
|
||||||
|
<arg name="rgbd_odometry" default="false" />
|
||||||
|
|
||||||
|
<!-- Navigation stuff (move_base) -->
|
||||||
|
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
|
||||||
|
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
|
||||||
|
|
||||||
|
<!-- Mapping -->
|
||||||
|
<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="odom_frame_id" type="string" value="odom"/>
|
||||||
|
<param name="wait_for_transform" type="bool" value="true"/>
|
||||||
|
<param name="subscribe_depth" type="bool" value="true"/>
|
||||||
|
<param name="subscribe_laserScan" type="bool" value="true"/>
|
||||||
|
|
||||||
|
<!-- inputs -->
|
||||||
|
<remap from="scan" to="/scan"/>
|
||||||
|
<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/rgb/camera_info"/>
|
||||||
|
|
||||||
|
<!-- output -->
|
||||||
|
<remap from="grid_map" to="/map"/>
|
||||||
|
<!-- <remap from="proj_map" to="/map"/> -->
|
||||||
|
|
||||||
|
<!-- 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="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
|
||||||
|
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
|
||||||
|
<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="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
|
||||||
|
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
|
||||||
|
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
|
||||||
|
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
|
||||||
|
<param name="Rtabmap/TimeThr" type="string" value="700"/>
|
||||||
|
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
|
||||||
|
</node>
|
||||||
|
|
||||||
|
<!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
|
||||||
|
<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
|
||||||
|
<param name="frame_id" type="string" value="base_footprint"/>
|
||||||
|
<param name="wait_for_transform" type="bool" value="true"/>
|
||||||
|
<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/rgb/camera_info"/>
|
||||||
|
</node>
|
||||||
|
|
||||||
|
</group>
|
||||||
|
</launch>
|
||||||
@@ -0,0 +1,6 @@
|
|||||||
|
<!--
|
||||||
|
Used for visualising the turtlebot while building a map or navigating with the ros navistack.
|
||||||
|
-->
|
||||||
|
<launch>
|
||||||
|
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find rtabmap_ros)/launch/config/turtlebot_navigation.rviz"/>
|
||||||
|
</launch>
|
||||||
Reference in New Issue
Block a user