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Added SaveObjectsExample node (added optional dependency on find_object_2d). Updated demo_find_object.launch. rtabmap: Added mutex around user data access.

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matlabbe
2018-05-23 10:53:13 -04:00
parent a39ffe382c
commit 2139338b11
7 changed files with 344 additions and 52 deletions
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launch/demo/demo_find_object.launch
+13 -1
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@@ -4,13 +4,17 @@
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="save_objects" default="false"/>
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<param name="use_sim_time" type="bool" value="True"/>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -18,6 +22,7 @@
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap if="$(arg save_objects)" from="user_data_async" to="/objectsData"/>
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
@@ -46,6 +51,7 @@
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
</node>
<!-- Visualisation RTAB-Map -->
@@ -101,5 +107,11 @@
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth_registered/image_transport" type="string" value="compressedDepth"/>
</node>
<!-- Save objects to database example -->
<node if="$(arg save_objects)" name="save_objects_example" pkg="rtabmap_ros" type="save_objects_example" output="screen">
<remap from="mapData" to="/rtabmap/mapData"/>
<param name="frame_id" value="base_footprint"/>
</node>
</launch>