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added openni point clouds to local costmap of az3_robot_mapping_nav.launch

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Mathieu Labbe
2015-02-12 13:43:05 -05:00
parent c73ff121c9
commit 2cf3188d61
4 changed files with 59 additions and 42 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+26 -8
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@@ -28,6 +28,7 @@
<remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<remap from="grid_map" to="/map"/>
<param name="use_action_for_goal" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
@@ -65,13 +66,6 @@
<param name="LccBow/MinInliers" type="string" value="5"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/>
</node>
<!-- Grid map assembler for planner -->
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="grid_map" to="/map"/>
</node>
</group>
<!-- teleop -->
@@ -85,13 +79,14 @@
<!-- ROS navigation stack move_base -->
<group ns="planner">
<remap from="base_scan" to="/base_scan"/>
<remap from="openni_points" to="/local_costmap_cloud"/>
<remap from="map" to="/map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_laser_only.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_laser.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
@@ -109,4 +104,27 @@
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
args="/cmd_vel /planner/cmd_vel"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="2.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_out" to="data_throttled_image"/>
<remap from="depth/image_out" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_planner" args="load rtabmap/point_cloud_xyzrgb camera_nodelet_manager">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="cloud" to="/local_costmap_cloud" />
<param name="decimation" type="int" value="4"/>
</node>
</group>
</launch>