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https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Cleanup launch files
This commit is contained in:
matlabbe
@@ -19,46 +19,48 @@
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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 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/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="rgb/image_transport" type="string" value="compressed"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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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/NeighborLinkRefining" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Proximity detection (using estimated position) with locations in WM -->
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<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
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<param name="Reg/Strategy" type="string" value="1"/> <!-- Registration strategy: 0=visual, 1=ICP, 2=visual+ICP -->
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<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
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<param name="Icp/Iterations" type="string" value="30"/>
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<param name="Icp/VoxelSize" type="string" value="0.025"/>
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<param name="Vis/MinInliers" type="string" value="10"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="Vis/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
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<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 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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<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
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<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Proximity detection (using estimated position) with locations in WM -->
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<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
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<param name="Reg/Strategy" type="string" value="1"/> <!-- Registration strategy: 0=visual, 1=ICP, 2=visual+ICP -->
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<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
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<param name="Icp/Iterations" type="string" value="30"/>
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<param name="Icp/VoxelSize" type="string" value="0.025"/>
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<param name="Vis/MinInliers" type="string" value="10"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="Vis/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
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<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 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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<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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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_scan" type="bool" value="true"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_scan" type="bool" value="true"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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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/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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<remap from="scan" to="/base_scan"/>
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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 from="odom" to="/base_controller/odom"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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</node>
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@@ -78,7 +80,7 @@
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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<param name="queue_size" type="int" value="10"/>
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@@ -87,16 +89,16 @@
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<!-- Find-Object -->
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<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
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<param name="gui" value="true" type="bool"/>
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<param name="settings_path" value="$(find rtabmap_ros)/launch/config/find_object.ini" type="str"/>
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<param name="gui" value="true" type="bool"/>
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<param name="settings_path" value="$(find rtabmap_ros)/launch/config/find_object.ini" type="str"/>
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<param name="subscribe_depth" value="true" type="bool"/>
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<param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
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<param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
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<remap from="rgb/image_rect_color" to="/camera/data_throttled_image"/>
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<remap from="depth_registered/image_raw" to="/camera/data_throttled_image_depth"/>
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<remap from="rgb/image_rect_color" to="/camera/data_throttled_image"/>
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<remap from="depth_registered/image_raw" to="/camera/data_throttled_image_depth"/>
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<remap from="depth_registered/camera_info" to="/camera/data_throttled_camera_info"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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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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