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Cleanup launch files

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matlabbe
2016-03-13 18:05:27 -04:00
parent cfcc4b57a3
commit 238e78bae0
12 changed files with 257 additions and 366 deletions
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launch/demo/demo_robot_mapping.launch
+33 -23
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@@ -10,53 +10,63 @@
<arg name="rtabmapviz" default="true" />
<param name="use_sim_time" type="bool" value="True"/>
<!-- Localization-only mode -->
<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"/>
<group ns="rtabmap">
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<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="wait_for_transform" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/ProximityByTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/ProximityByTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform" type="bool" value="true"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</group>
@@ -69,7 +79,7 @@
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>