mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Added SaveObjectsExample node (added optional dependency on find_object_2d). Updated demo_find_object.launch. rtabmap: Added mutex around user data access.
This commit is contained in:
matlabbe
@@ -6,7 +6,7 @@ Panels:
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Expanded:
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- /Global Options1
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- /TF1/Frames1
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Splitter Ratio: 0.434783
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Splitter Ratio: 0.434783012
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Tree Height: 590
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- Class: rviz/Selection
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Name: Selection
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@@ -15,7 +15,7 @@ Panels:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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Name: Tool Properties
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Splitter Ratio: 0.588679
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Splitter Ratio: 0.588679016
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- Class: rviz/Views
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Expanded:
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- /Current View1
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@@ -36,7 +36,7 @@ Visualization Manager:
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.03
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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@@ -51,8 +51,8 @@ Visualization Manager:
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 2.02684
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Min Value: -1.12646
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Max Value: 2.02683997
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Min Value: -1.12645996
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Value: true
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Axis: Z
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Channel Name: rgb
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@@ -63,17 +63,18 @@ Visualization Manager:
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 2.34177e-38
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Max Intensity: 2.34176998e-38
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Min Color: 0; 0; 0
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Min Intensity: 9.21942e-41
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Min Intensity: 9.21942286e-41
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Size (m): 0.00999999978
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Style: Points
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Topic: /voxel_cloud
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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@@ -100,16 +101,6 @@ Visualization Manager:
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Value: true
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map:
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Value: true
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object_4:
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Value: true
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object_5:
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Value: true
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object_6:
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Value: true
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object_7:
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Value: true
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object_8:
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Value: true
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odom:
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Value: true
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wheelLB_linkWheel_link:
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@@ -146,16 +137,7 @@ Visualization Manager:
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{}
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camera_rgb_frame:
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camera_rgb_optical_frame:
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object_4:
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{}
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object_5:
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{}
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object_6:
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{}
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object_7:
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{}
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object_8:
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{}
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{}
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wheelLB_linkWheel_link:
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wheelLB_wheel_link:
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{}
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@@ -173,8 +155,8 @@ Visualization Manager:
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: -0.574923
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Min Value: -5.11672
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Max Value: 4.7127676
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Min Value: 0.0444712937
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Value: true
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Axis: X
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Channel Name: intensity
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@@ -193,19 +175,22 @@ Visualization Manager:
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Queue Size: 10
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Selectable: true
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Size (Pixels): 5
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Size (m): 0.01
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Size (m): 0.00999999978
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Style: Points
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Topic: /base_scan
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Unreliable: false
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Use Fixed Frame: false
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Use rainbow: true
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Value: true
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- Alpha: 0.7
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- Alpha: 0.699999988
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Map
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Topic: /rtabmap/grid_map
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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@@ -233,6 +218,7 @@ Visualization Manager:
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Normalize Range: true
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Queue Size: 2
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Transport Hint: compressed
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Unreliable: false
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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@@ -245,12 +231,14 @@ Visualization Manager:
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Class: rtabmap_ros/MapCloud
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Cloud decimation: 4
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Cloud max depth (m): 3
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Cloud voxel size (m): 0.02
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Cloud min depth (m): 0
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Cloud voxel size (m): 0.0199999996
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Color: 255; 255; 255
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Color Transformer: RGB8
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Download graph: false
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Download map: false
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Enabled: true
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Filter ceiling (m): 0
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Filter floor (m): 0
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Invert Rainbow: false
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Max Color: 255; 255; 255
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@@ -259,12 +247,13 @@ Visualization Manager:
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Min Intensity: 0
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Name: MapCloud
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Node filtering angle (degrees): 20
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Node filtering radius (m): 0.2
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Node filtering radius (m): 0.200000003
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Position Transformer: XYZ
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Size (Pixels): 3
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Size (m): 0.01
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Size (m): 0.00999999978
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Style: Points
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Topic: /rtabmap/mapData
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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@@ -272,10 +261,20 @@ Visualization Manager:
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Enabled: true
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Name: Info
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Topic: /rtabmap/info
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Unreliable: false
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /objectsMarkers
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Name: MarkerArray
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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@@ -293,22 +292,25 @@ Visualization Manager:
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Views:
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Current:
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Class: rtabmap_ros/OrbitOriented
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Distance: 7.89956
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Distance: 7.89955997
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.06
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Stereo Eye Separation: 0.0599999987
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0.0199225
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Y: 0.23516
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Z: -0.0896359
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X: 0.0199225005
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Y: 0.235159993
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Z: -0.0896359012
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.01
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Pitch: 0.819797
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Near Clip Distance: 0.00999999978
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Pitch: 0.819796979
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Target Frame: base_link
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Value: OrbitOriented (rtabmap)
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Yaw: 3.14375
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Yaw: 3.14374995
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Saved: ~
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Window Geometry:
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Displays:
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@@ -318,7 +320,7 @@ Window Geometry:
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Hide Right Dock: false
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Image:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002dd000000dd00fffffffb0000000a0049006d006100670065000000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002dd000000d700fffffffb0000000a0049006d006100670065000000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000459000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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@@ -327,6 +329,6 @@ Window Geometry:
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collapsed: false
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Views:
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collapsed: false
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Width: 1561
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X: 42
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Width: 1551
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X: 49
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Y: 107
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@@ -4,13 +4,17 @@
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<!-- Choose visualization -->
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<arg name="rviz" default="true" />
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<arg name="rtabmapviz" default="false" />
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<arg name="save_objects" default="false"/>
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<arg name="localization" default="false"/>
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<arg if="$(arg localization)" name="rtabmap_args" default=""/>
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<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
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<param name="use_sim_time" type="bool" value="True"/>
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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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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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@@ -18,6 +22,7 @@
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<remap from="odom" to="/base_controller/odom"/>
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<remap from="scan" to="/base_scan"/>
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<remap if="$(arg save_objects)" from="user_data_async" to="/objectsData"/>
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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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@@ -46,6 +51,7 @@
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<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
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<param name="Optimizer/Slam2D" type="string" value="true"/>
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<param name="Reg/Force3DoF" type="string" value="true"/>
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<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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@@ -101,5 +107,11 @@
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth_registered/image_transport" type="string" value="compressedDepth"/>
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</node>
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<!-- Save objects to database example -->
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<node if="$(arg save_objects)" name="save_objects_example" pkg="rtabmap_ros" type="save_objects_example" output="screen">
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<remap from="mapData" to="/rtabmap/mapData"/>
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<param name="frame_id" value="base_footprint"/>
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</node>
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</launch>
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