mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Cleanup launch files
This commit is contained in:
matlabbe
@@ -9,6 +9,9 @@
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<arg name="rtabmapviz" default="true" />
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<arg name="rviz" default="false" />
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<!-- Localization-only mode -->
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<arg name="localization" default="false"/>
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<!-- Corresponding config files -->
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<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
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<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
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@@ -32,23 +35,15 @@
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<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
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<arg name="scan_topic" default="/scan"/>
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<arg name="subscribe_scan_cloud" default="false"/> <!-- Assuming 3D scan if set -->
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<arg name="scan_cloud_topic" default="/scan_cloud"/>
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<arg name="visual_odometry" default="true"/> <!-- Generate visual odometry -->
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<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
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<arg name="namespace" default="rtabmap"/>
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<arg name="wait_for_transform" default="0.1"/>
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<!-- Odometry parameters: -->
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<arg name="strategy" default="0" /> <!-- Strategy: 0=Frame-to-Map 1=Frame-to-Frame -->
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<arg name="feature" default="6" /> <!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -->
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<arg name="estimation" default="1" /> <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
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<arg name="nn" default="3" /> <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE 2=FLANN_LSH, 3=BRUTEFORCE -->
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<arg name="max_depth" default="0" /> <!-- Maximum features depth (m) -->
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<arg name="min_inliers" default="20" /> <!-- Minimum visual correspondences to accept a transformation (m) -->
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<arg name="inlier_distance" default="0.1" /> <!-- RANSAC maximum inliers distance (m) -->
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<arg name="local_map" default="1000" /> <!-- Local map size: number of unique features to keep track -->
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<arg name="variance_inliers" default="true"/> <!-- Variance from inverse of inliers count -->
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<!-- Nodes -->
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<group ns="$(arg namespace)">
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@@ -66,56 +61,54 @@
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="approx_sync" type="bool" value="$(arg approximate_sync)"/>
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<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
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<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
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<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
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<param name="Vis/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
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<param name="Odom/FillInfoData" type="string" value="true"/>
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<param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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</node>
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<!-- Visual SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="database_path" type="string" value="$(arg database_path)"/>
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<param name="stereo_approx_sync" type="bool" value="$(arg approximate_sync)"/>
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<param name="database_path" type="string" value="$(arg database_path)"/>
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<param name="stereo_approx_sync" type="bool" value="$(arg approximate_sync)"/>
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<remap from="left/image_rect" to="$(arg left_image_topic)"/>
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<remap from="right/image_rect" to="$(arg right_image_topic)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
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<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
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<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="Vis/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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<param name="Mem/SaveDepth16Format" type="string" value="$(arg convert_depth_to_mm)"/>
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<!-- localization mode -->
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<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
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<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
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<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
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<!-- when 2D scan is set -->
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<param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>
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<param if="$(arg subscribe_scan)" name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
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<param if="$(arg subscribe_scan)" name="LccIcp/Type" type="string" value="2"/>
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<param if="$(arg subscribe_scan)" name="LccIcp2/CorrespondenceRatio" type="string" value="0.25"/>
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<param if="$(arg subscribe_scan)" name="Optimizer/Slam2D" type="string" value="true"/>
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<param if="$(arg subscribe_scan)" name="Icp/CorrespondenceRatio" type="string" value="0.25"/>
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<param if="$(arg subscribe_scan)" name="Reg/Strategy" type="string" value="1"/>
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<param if="$(arg subscribe_scan)" name="Reg/Force3DoF" type="string" value="true"/>
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<!-- when 3D scan is set -->
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<param if="$(arg subscribe_scan_cloud)" name="Reg/Strategy" type="string" value="1"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
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<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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@@ -125,6 +118,7 @@
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
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<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
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</node>
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