mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
First version rtabmap_launch working
This commit is contained in:
matlabbe
@@ -0,0 +1,53 @@
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<?xml version="1.0"?>
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<launch>
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<param name="use_sim_time" type="bool" value="True"/>
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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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/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="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/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
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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="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
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<param name="LccIcp2/Iterations" type="string" value="100"/>
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<param name="LccIcp2/VoxelSize" type="string" value="0"/>
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<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="LccBow/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
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<param name="LccBow/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/RehearsedNodesKept" type="string" value="false"/>
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</node>
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</group>
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<!-- send AZIMUT 3 urdf to param server -->
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<param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
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<!-- Visualisation -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_client.launch"/>
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</launch>
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@@ -0,0 +1,37 @@
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<?xml version="1.0"?>
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<launch>
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<!-- rosbag record camera/data_throttled_image/compressed camera/data_throttled_image_depth/compressedDepth camera/data_throttled_camera_info tf base_scan /base_controller/odom -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<!-- To control with only one joystick -->
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<include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>
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<node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
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<param name="scale_angular" value="1.5"/>
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<param name="scale_linear" value="0.5"/>
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<remap from="turtlebot_teleop_joystick/cmd_vel" to="base_controller/cmd_vel"/>
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</node>
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<node pkg="joy" type="joy_node" name="joystick"/>
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<!-- OpenNI -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
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<param name="rate" type="double" value="10.0"/>
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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</node>
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</group>
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</launch>
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@@ -0,0 +1,47 @@
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<?xml version="1.0"?>
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<launch>
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<!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- OpenNI -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
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<param name="rate" type="double" value="10.0"/>
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="rgb/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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</node>
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</group>
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<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
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<param name="output_file_name" value="az3_record.db" type="string"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_odometry" type="bool" value="true"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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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/camera_info" to="camera/data_throttled_camera_info"/>
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<param name="queue_size" type="int" value="10"/>
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</node>
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</launch>
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@@ -0,0 +1,34 @@
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<?xml version="1.0"?>
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<launch>
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<!-- Remote teleop -->
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
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<!-- a relay on this machine, same for images -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
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<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
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<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_relay"/>
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<remap from="grid_map" to="rtabmap/grid_map"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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@@ -0,0 +1,10 @@
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<?xml version="1.0"?>
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<launch>
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<!-- relays -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/stereo_camera/left/image_rect_color raw out:=/stereo_camera/left/image_rect_color_relay" />
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_stereo_nav.rviz"/>
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</launch>
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@@ -0,0 +1,63 @@
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<?xml version="1.0"?>
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<launch>
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<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- OpenNI -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
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<param name="rate" type="double" value="5.0"/>
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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</node>
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</group>
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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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/camera_info" to="/camera/data_throttled_camera_info"/>
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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/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
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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="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
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<param name="LccIcp2/Iterations" type="string" value="100"/>
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<param name="LccIcp2/VoxelSize" type="string" value="0"/>
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<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="LccBow/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
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<param name="LccBow/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/RehearsedNodesKept" type="string" value="false"/>
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</node>
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</group>
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</launch>
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@@ -0,0 +1,51 @@
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<?xml version="1.0"?>
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<launch>
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<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- OpenNI -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
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<param name="rate" type="double" value="5.0"/>
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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</node>
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</group>
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<remap from="odom" to="/base_controller/odom"/>
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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="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. -->
|
||||
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
|
||||
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
|
||||
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
|
||||
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
|
||||
<param name="Rtabmap/TimeThr" type="string" value="700"/>
|
||||
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
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<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
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</node>
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</group>
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</launch>
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@@ -0,0 +1,28 @@
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<?xml version="1.0"?>
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<launch>
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<!-- "Disable" odometry from azimut3 -->
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<group ns="base_controller">
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<param name="odom_frame_id" type="string" value="az3_odom"/>
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<param name="base_frame_id" type="string" value="az3_base_link"/>
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</group>
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<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
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<!-- use same launch file as "Kinect + Odometry" configuration -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
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<!-- Odometry -->
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<node pkg="rtabmap_ros" type="visual_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<remap from="odom" to="/base_controller/odom"/>
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<param name="Odom/MinInliers" type="string" value="10"/>
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<param name="Odom/InlierDistance" type="string" value="0.01"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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</node>
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</launch>
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@@ -0,0 +1,132 @@
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<?xml version="1.0"?>
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<launch>
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||||
<arg name="rtabmap_args" default="" />
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<arg name="localization" default="false" />
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||||
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<!-- AZIMUT 3 bringup: launch motors/odometry -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<!-- OpenNI -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- SLAM (robot side) -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
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<param name="frame_id" type="string" value="base_footprint"/>
|
||||
<param name="subscribe_laserScan" type="bool" value="true"/>
|
||||
<param name="use_action_for_goal" type="bool" value="true"/>
|
||||
|
||||
<remap from="scan" to="/kinect_scan"/>
|
||||
<remap from="odom" to="/base_controller/odom"/>
|
||||
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
|
||||
|
||||
<remap from="goal_out" to="current_goal"/>
|
||||
<remap from="move_base" to="/planner/move_base"/>
|
||||
<remap from="grid_map" to="/map"/>
|
||||
|
||||
<!-- RTAB-Map's parameters -->
|
||||
<param unless="$(arg localization)" name="Rtabmap/TimeThr" type="string" value="500"/>
|
||||
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
|
||||
<param if="$(arg localization)" name="Mem/InitWMWithAllNodes" type="string" value="true"/>
|
||||
<param name="RGBD/PoseScanMatching" type="string" value="true"/>
|
||||
<param name="RGBD/LocalRadius" type="string" value="4"/>
|
||||
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
|
||||
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
|
||||
<param name="RGBD/OptimizeSlam2d" type="string" value="true"/>
|
||||
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
|
||||
<param name="RGBD/OptimizeVarianceIgnored" type="string" value="false"/>
|
||||
<param name="RGBD/PlanAngularVelocity" type="string" value="1.0"/> <!-- preference for path traversed forward -->
|
||||
<param name="LccBow/Force2D" type="string" value="true"/>
|
||||
<param name="LccIcp/Type" type="string" value="2"/>
|
||||
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.2"/>
|
||||
</node>
|
||||
</group>
|
||||
|
||||
<!-- teleop -->
|
||||
<node name="joy" pkg="joy" type="joy_node"/>
|
||||
<group ns="teleop">
|
||||
<remap from="joy" to="/joy"/>
|
||||
<node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
|
||||
<param name="cmd_eta/abtr_priority" value="50"/>
|
||||
</group>
|
||||
|
||||
<!-- ROS navigation stack move_base -->
|
||||
<group ns="planner">
|
||||
<remap from="scan" to="/kinect_scan"/>
|
||||
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
|
||||
<remap from="ground_cloud" to="/ground_cloud"/>
|
||||
<remap from="map" to="/map"/>
|
||||
|
||||
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
|
||||
<param name="base_global_planner" value="navfn/NavfnROS"/>
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
|
||||
</node>
|
||||
|
||||
<param name="cmd_vel/abtr_priority" value="10"/>
|
||||
</group>
|
||||
|
||||
<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
|
||||
<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
|
||||
</node>
|
||||
|
||||
<!-- Arbitration between teleop and planner -->
|
||||
<node name="register_cmd_eta" pkg="abtr_priority" type="register"
|
||||
args="/cmd_eta /teleop/cmd_eta"/>
|
||||
<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_ros/data_throttle camera_nodelet_manager">
|
||||
<param name="rate" type="double" value="3"/>
|
||||
|
||||
<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="throttled_image"/>
|
||||
<remap from="depth/image_out" to="throttled_image_depth"/>
|
||||
<remap from="rgb/camera_info_out" to="throttled_camera_info"/>
|
||||
</node>
|
||||
|
||||
<!-- for the planner -->
|
||||
<node pkg="nodelet" type="nodelet" name="obstacle_nodelet_manager" args="manager" output="screen"/>
|
||||
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz obstacle_nodelet_manager">
|
||||
<remap from="depth/image" to="throttled_image_depth"/>
|
||||
<remap from="depth/camera_info" to="throttled_camera_info"/>
|
||||
<remap from="cloud" to="cloudXYZ" />
|
||||
<param name="decimation" type="int" value="2"/>
|
||||
<param name="max_depth" type="double" value="4.0"/>
|
||||
<param name="voxel_size" type="double" value="0.02"/>
|
||||
</node>
|
||||
|
||||
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection obstacle_nodelet_manager">
|
||||
<remap from="cloud" to="cloudXYZ"/>
|
||||
<remap from="obstacles" to="/obstacles_cloud"/>
|
||||
<remap from="ground" to="/ground_cloud"/>
|
||||
|
||||
<param name="frame_id" type="string" value="base_footprint"/>
|
||||
<param name="map_frame_id" type="string" value="map"/>
|
||||
<param name="wait_for_transform" type="bool" value="true"/>
|
||||
<param name="min_cluster_size" type="int" value="20"/>
|
||||
<param name="max_obstacles_height" type="double" value="0.4"/>
|
||||
<param name="ground_normal_angle" type="double" value="0.1"/>
|
||||
</node>
|
||||
|
||||
<!-- scan from the camera -->
|
||||
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager">
|
||||
<remap from="image" to="depth_registered/image_raw"/>
|
||||
<remap from="camera_info" to="depth_registered/camera_info"/>
|
||||
<remap from="scan" to="/kinect_scan"/>
|
||||
<param name="range_max" type="double" value="4"/>
|
||||
</node>
|
||||
</group>
|
||||
</launch>
|
||||
@@ -0,0 +1,167 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<launch>
|
||||
<!-- "Disable" wheel odometry from azimut3 -->
|
||||
<group ns="base_controller">
|
||||
<param name="odom_frame_id" type="string" value="az3_odom"/>
|
||||
<param name="base_frame_id" type="string" value="az3_base_link"/>
|
||||
</group>
|
||||
<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
|
||||
|
||||
<!-- AZIMUT 3 bringup: launch motors and TF -->
|
||||
<include file="$(find az3_bringup)/az3_standalone.launch"/>
|
||||
|
||||
<node name="joy" pkg="joy" type="joy_node"/>
|
||||
<group ns="teleop">
|
||||
<remap from="joy" to="/joy"/>
|
||||
<node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
|
||||
<param name="cmd_eta/abtr_priority" value="50"/>
|
||||
</group>
|
||||
|
||||
<!-- ROS navigation stack move_base -->
|
||||
<group ns="planner">
|
||||
<remap from="openni_points" to="/planner_cloud"/>
|
||||
<remap from="base_scan" to="/base_scan"/>
|
||||
<remap from="map" to="/rtabmap/proj_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="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_3d.yaml" command="load" />
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
|
||||
</node>
|
||||
|
||||
<param name="cmd_vel/abtr_priority" value="10"/>
|
||||
</group>
|
||||
|
||||
<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
|
||||
<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
|
||||
</node>
|
||||
|
||||
<!-- Arbitration between teleop and planner -->
|
||||
<node name="register_cmd_eta" pkg="abtr_priority" type="register"
|
||||
args="/cmd_eta /teleop/cmd_eta"/>
|
||||
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
|
||||
args="/cmd_vel /planner/cmd_vel"/>
|
||||
|
||||
<!-- Stereo camera -->
|
||||
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
|
||||
<param name="video_mode" value="format7_mode3" />
|
||||
<param name="format7_color_coding" value="raw16" />
|
||||
<param name="bayer_pattern" value="bggr" />
|
||||
<param name="bayer_method" value="" />
|
||||
<param name="stereo_method" value="Interlaced" />
|
||||
<param name="camera_info_url_left" value="" />
|
||||
<param name="camera_info_url_right" value="" />
|
||||
</node>
|
||||
|
||||
<!-- TF transforms for the stereo camera -->
|
||||
<arg name="pi/2" value="1.5707963267948966" />
|
||||
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="stereo_camera_base_link"
|
||||
args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_to_stereo_camera_base_link"
|
||||
args="0.01 0.06 0.90 0 0.37 0 base_link stereo_camera_base 100" />
|
||||
|
||||
<!-- Run the ROS package stereo_image_proc for image rectification-->
|
||||
<group ns="/stereo_camera" >
|
||||
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
|
||||
<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
|
||||
Throttle camera images -->
|
||||
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap_ros/stereo_throttle stereo_nodelet">
|
||||
<remap from="left/image" to="left/image_raw"/>
|
||||
<remap from="right/image" to="right/image_raw"/>
|
||||
<remap from="left/camera_info" to="left/camera_info"/>
|
||||
<remap from="right/camera_info" to="right/camera_info"/>
|
||||
|
||||
<param name="queue_size" type="int" value="10"/>
|
||||
<param name="rate" type="double" value="20"/>
|
||||
</node>
|
||||
|
||||
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
|
||||
<remap from="left/image_raw" to="left/image_raw_throttle"/>
|
||||
<remap from="left/camera_info" to="left/camera_info_throttle"/>
|
||||
<remap from="right/image_raw" to="right/image_raw_throttle"/>
|
||||
<remap from="right/camera_info" to="right/camera_info_throttle"/>
|
||||
<param name="disparity_range" value="128"/>
|
||||
</node>
|
||||
|
||||
<!-- Create point cloud for the planner -->
|
||||
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_ros/point_cloud_xyz stereo_nodelet">
|
||||
<remap from="disparity/image" to="disparity"/>
|
||||
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
|
||||
<remap from="cloud" to="cloudXYZ"/>
|
||||
|
||||
<param name="voxel_size" type="double" value="0.05"/>
|
||||
<param name="decimation" type="int" value="4"/>
|
||||
<param name="max_depth" type="double" value="4"/>
|
||||
</node>
|
||||
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection stereo_nodelet">
|
||||
<remap from="cloud" to="cloudXYZ"/>
|
||||
<remap from="obstacles" to="/planner_cloud"/>
|
||||
|
||||
<param name="frame_id" type="string" value="base_footprint"/>
|
||||
<param name="map_frame_id" type="string" value="map"/>
|
||||
<param name="wait_for_transform" type="bool" value="true"/>
|
||||
<param name="min_cluster_size" type="int" value="20"/>
|
||||
<param name="max_obstacles_height" type="double" value="0.0"/>
|
||||
</node>
|
||||
</group>
|
||||
|
||||
<!-- Visual Odometry -->
|
||||
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
|
||||
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
|
||||
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
|
||||
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
|
||||
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
|
||||
<remap from="odom" to="/odometry"/>
|
||||
|
||||
<param name="frame_id" type="string" value="base_footprint"/>
|
||||
<param name="odom_frame_id" type="string" value="odom"/>
|
||||
|
||||
<param name="Odom/InlierDistance" type="string" value="0.1"/>
|
||||
<param name="Odom/MinInliers" type="string" value="10"/>
|
||||
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
|
||||
<param name="Odom/MaxDepth" type="string" value="10"/>
|
||||
|
||||
<param name="GFTT/MaxCorners" type="string" value="500"/>
|
||||
<param name="GFTT/MinDistance" type="string" value="5"/>
|
||||
</node>
|
||||
|
||||
<group ns="rtabmap">
|
||||
<!-- Visual SLAM: 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"/>
|
||||
<param name="subscribe_stereo" type="bool" value="true"/>
|
||||
<param name="subscribe_depth" type="bool" value="false"/>
|
||||
|
||||
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
|
||||
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
|
||||
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
|
||||
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
|
||||
|
||||
<remap from="odom" to="/odometry"/>
|
||||
|
||||
<param name="queue_size" type="int" value="30"/>
|
||||
|
||||
<!-- RTAB-Map's parameters -->
|
||||
<param name="Rtabmap/TimeThr" type="string" value="700"/>
|
||||
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
|
||||
|
||||
<param name="Kp/WordsPerImage" type="string" value="200"/>
|
||||
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
|
||||
|
||||
<param name="SURF/HessianThreshold" type="string" value="1000"/>
|
||||
|
||||
<param name="LccBow/MaxDepth" type="string" value="5"/>
|
||||
<param name="LccBow/MinInliers" type="string" value="10"/>
|
||||
<param name="LccBow/InlierDistance" type="string" value="0.05"/>
|
||||
|
||||
<param name="LccReextract/Activated" type="string" value="true"/>
|
||||
<param name="LccReextract/MaxWords" type="string" value="500"/>
|
||||
</node>
|
||||
</group>
|
||||
|
||||
</launch>
|
||||
@@ -0,0 +1,152 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- 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"/>
|
||||
|
||||
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
|
||||
<include file="$(find az3_bringup)/az3_standalone.launch"/>
|
||||
|
||||
<!-- OpenNI -->
|
||||
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
|
||||
|
||||
<!-- SLAM (robot side) -->
|
||||
<group ns="rtabmap">
|
||||
<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_scan" type="bool" value="true"/>
|
||||
<param name="use_action_for_goal" type="bool" value="true"/>
|
||||
<param name="cloud_decimation" type="int" value="1"/> <!-- we already decimate in memory below -->
|
||||
<param name="grid_eroded" type="bool" value="true"/>
|
||||
<param name="grid_cell_size" type="double" value="0.05"/>
|
||||
|
||||
<remap from="odom" to="/base_controller/odom"/>
|
||||
<remap from="scan" to="/base_scan"/>
|
||||
<remap from="mapData" to="mapData"/>
|
||||
|
||||
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
|
||||
|
||||
<remap from="goal_out" to="current_goal"/>
|
||||
<remap from="move_base" to="/planner/move_base"/>
|
||||
<remap from="grid_map" to="/map"/>
|
||||
|
||||
<!-- RTAB-Map's parameters -->
|
||||
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
|
||||
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
|
||||
|
||||
<param name="Reg/Strategy" type="string" value="1"/>
|
||||
|
||||
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
|
||||
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
|
||||
<param name="RGBD/LocalRadius" type="string" value="5"/>
|
||||
|
||||
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
|
||||
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
|
||||
<param name="Mem/ImagePostDecimation" type="string" value="4"/>
|
||||
|
||||
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
|
||||
<param name="Rtabmap/TimeThr" type="string" value="600"/>
|
||||
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
|
||||
|
||||
<param name="Bayes/PredictionLC" type="string" value="0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.00035"/>
|
||||
|
||||
<param name="Optimizer/Slam2D" type="string" value="true"/>
|
||||
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
|
||||
<param name="Optimizer/Strategy" type="string" value="0"/>
|
||||
|
||||
<param name="Kp/DetectorStrategy" type="string" value="0"/>
|
||||
<param name="Kp/MaxFeatures" type="string" value="200"/>
|
||||
<param name="SURF/HessianThreshold" type="string" value="500"/>
|
||||
|
||||
<param name="Reg/Force3DoF" type="string" value="true"/>
|
||||
<param name="Vis/MaxDepth" type="string" value="5"/>
|
||||
<param name="Vis/MinInliers" type="string" value="5"/>
|
||||
<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
|
||||
|
||||
<!-- 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>
|
||||
</group>
|
||||
|
||||
<!-- teleop -->
|
||||
<node name="joy" pkg="joy" type="joy_node"/>
|
||||
<group ns="teleop">
|
||||
<remap from="joy" to="/joy"/>
|
||||
<node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
|
||||
<param name="cmd_eta/abtr_priority" value="50"/>
|
||||
</group>
|
||||
|
||||
<!-- ROS navigation stack move_base -->
|
||||
<group ns="planner">
|
||||
<remap from="scan" to="/base_scan"/>
|
||||
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
|
||||
<remap from="ground_cloud" to="/ground_cloud"/>
|
||||
<remap from="map" to="/map"/>
|
||||
<remap from="move_base_simple/goal" to="/planner_goal"/>
|
||||
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
|
||||
<param name="base_global_planner" value="navfn/NavfnROS"/>
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap"/>
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
|
||||
</node>
|
||||
|
||||
<param name="cmd_vel/abtr_priority" value="10"/>
|
||||
</group>
|
||||
|
||||
<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
|
||||
<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
|
||||
</node>
|
||||
|
||||
<!-- Arbitration between teleop and planner -->
|
||||
<node name="register_cmd_eta" pkg="abtr_priority" type="register"
|
||||
args="/cmd_eta /teleop/cmd_eta"/>
|
||||
<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_ros/data_throttle camera_nodelet_manager">
|
||||
<param name="rate" type="double" value="5"/>
|
||||
<param name="decimation" type="int" value="2"/>
|
||||
|
||||
<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_resized_image"/>
|
||||
<remap from="depth/image_out" to="data_resized_image_depth"/>
|
||||
<remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
|
||||
</node>
|
||||
|
||||
<!-- for the planner -->
|
||||
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
|
||||
<remap from="depth/image" to="data_resized_image_depth"/>
|
||||
<remap from="depth/camera_info" to="data_resized_camera_info"/>
|
||||
<remap from="cloud" to="cloudXYZ" />
|
||||
<param name="decimation" type="int" value="1"/> <!-- already decimated above -->
|
||||
<param name="max_depth" type="double" value="3.0"/>
|
||||
<param name="voxel_size" type="double" value="0.02"/>
|
||||
</node>
|
||||
|
||||
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
|
||||
<remap from="cloud" to="cloudXYZ"/>
|
||||
<remap from="obstacles" to="/obstacles_cloud"/>
|
||||
<remap from="ground" to="/ground_cloud"/>
|
||||
|
||||
<param name="frame_id" type="string" value="base_footprint"/>
|
||||
<param name="map_frame_id" type="string" value="map"/>
|
||||
<param name="wait_for_transform" type="bool" value="true"/>
|
||||
<param name="min_cluster_size" type="int" value="20"/>
|
||||
<param name="max_obstacles_height" type="double" value="0.4"/>
|
||||
</node>
|
||||
</group>
|
||||
</launch>
|
||||
@@ -0,0 +1,48 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- Choose visualization -->
|
||||
<arg name="rviz" default="true" />
|
||||
<arg name="rtabmapviz" default="false" />
|
||||
<arg name="sub_data" default="false"/>
|
||||
|
||||
<!-- use a relay on this machine -->
|
||||
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay">
|
||||
<param name="lazy" type="bool" value="true"/>
|
||||
</node>
|
||||
<node if="$(arg sub_data)" name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay">
|
||||
<param name="lazy" type="bool" value="true"/>
|
||||
</node>
|
||||
|
||||
<node if="$(arg sub_data)" name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_resized_image raw out:=/camera/data_resized_image_relay" />
|
||||
<node if="$(arg sub_data)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_resized_image_depth raw out:=/camera/data_resized_image_depth_relay" />
|
||||
|
||||
<node if="$(arg sub_data)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
|
||||
<remap from="rgb/image" to="/camera/data_resized_image_relay"/>
|
||||
<remap from="depth/image" to="/camera/data_resized_image_depth_relay"/>
|
||||
<remap from="rgb/camera_info" to="/camera/data_resized_camera_info"/>
|
||||
<remap from="cloud" to="/voxel_cloud" />
|
||||
</node>
|
||||
|
||||
<group ns="rtabmap">
|
||||
<!-- Visualisation RTAB-Map -->
|
||||
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
|
||||
<param name="queue_size" type="int" value="10"/>
|
||||
<param name="frame_id" type="string" value="base_footprint"/>
|
||||
<remap from="odom" to="/base_controller/odom"/>
|
||||
<remap from="mapData" to="mapData_relay"/>
|
||||
|
||||
<param name="subscribe_depth" type="bool" value="$(arg sub_data)"/>
|
||||
<remap from="rgb/image" to="/camera/data_resized_image_relay"/>
|
||||
<remap from="depth/image" to="/camera/data_resized_image_depth_relay"/>
|
||||
<remap from="rgb/camera_info" to="/camera/data_resized_camera_info"/>
|
||||
|
||||
<param name="subscribe_laserScan" type="bool" value="$(arg sub_data)"/>
|
||||
<remap from="scan" to="/base_scan_relay"/>
|
||||
</node>
|
||||
</group>
|
||||
|
||||
<!-- Visualisation RVIZ -->
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
|
||||
</launch>
|
||||
@@ -0,0 +1,41 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- Localization-only mode -->
|
||||
<arg name="localization" default="false"/>
|
||||
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
|
||||
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
|
||||
|
||||
<!-- "Disable" odometry from azimut3 -->
|
||||
<group ns="base_controller">
|
||||
<param name="odom_frame_id" type="string" value="az3_odom"/>
|
||||
<param name="base_frame_id" type="string" value="az3_base_link"/>
|
||||
</group>
|
||||
<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
|
||||
|
||||
<!-- use same launch file as "Kinect + Odometry" configuration -->
|
||||
<include file="$(find rtabmap_ros)/launch/azimut3/az3_nav_kinect_odom.launch">
|
||||
<arg name="localization" value="$(arg localization)"/>
|
||||
<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
|
||||
</include>
|
||||
|
||||
<!-- Odometry -->
|
||||
<group ns="rtabmap">
|
||||
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
|
||||
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
|
||||
<remap from="odom" to="/base_controller/odom"/>
|
||||
|
||||
<param name="Vis/MinInliers" type="string" value="10"/>
|
||||
<param name="Vis/InlierDistance" type="string" value="0.1"/>
|
||||
<param name="Vis/MaxDepth" type="string" value="4"/>
|
||||
<param name="Reg/Force3DoF" type="string" value="true"/>
|
||||
|
||||
<param name="frame_id" type="string" value="base_footprint"/>
|
||||
</node>
|
||||
</group>
|
||||
|
||||
</launch>
|
||||
|
||||
@@ -0,0 +1,162 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- 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"/>
|
||||
|
||||
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
|
||||
<include file="$(find az3_bringup)/az3_standalone.launch"/>
|
||||
|
||||
<!-- OpenNI -->
|
||||
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
|
||||
|
||||
<!-- SLAM (robot side) -->
|
||||
<group ns="rtabmap">
|
||||
<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_scan" type="bool" value="false"/>
|
||||
<param name="use_action_for_goal" type="bool" value="true"/>
|
||||
<param name="cloud_decimation" type="int" value="4"/> <!-- we already decimate in memory below -->
|
||||
<param name="grid_eroded" type="bool" value="true"/>
|
||||
<param name="grid_cell_size" type="double" value="0.05"/>
|
||||
|
||||
<remap from="odom" to="/base_controller/odom"/>
|
||||
<remap from="scan" to="/base_scan"/>
|
||||
<remap from="mapData" to="mapData"/>
|
||||
|
||||
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
|
||||
|
||||
<remap from="goal_out" to="current_goal"/>
|
||||
<remap from="move_base" to="/planner/move_base"/>
|
||||
<remap from="proj_map" to="/map"/>
|
||||
|
||||
<!-- RTAB-Map's parameters -->
|
||||
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
|
||||
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
|
||||
|
||||
<param name="Reg/Strategy" type="string" value="0"/>
|
||||
|
||||
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
|
||||
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
|
||||
<param name="RGBD/LocalRadius" type="string" value="5"/>
|
||||
|
||||
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
|
||||
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
|
||||
<param name="Mem/ImageDecimation" type="string" value="1"/>
|
||||
|
||||
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
|
||||
<param name="Rtabmap/TimeThr" type="string" value="600"/>
|
||||
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
|
||||
|
||||
<param name="Mem/RawDescriptorsKept" type="string" value="true"/>
|
||||
<param name="RGBD/LoopClosureReextractFeatures" type="string" value="false"/>
|
||||
<param name="Mem/UseDepthAsMask" type="string" value="true"/>
|
||||
<param name="Reg/Force3DoF" type="string" value="true"/>
|
||||
<param name="Vis/EstimationType" type="string" value="1"/>
|
||||
|
||||
<param name="Bayes/PredictionLC" type="string" value="0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.00035"/>
|
||||
|
||||
<param name="Optimizer/Slam2D" type="string" value="true"/>
|
||||
<param name="Optimizer/Iterations" type="string" value="100"/>
|
||||
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
|
||||
<param name="Optimizer/Strategy" type="string" value="1"/>
|
||||
<param name="Optimizer/Robust" type="string" value="false"/>
|
||||
<param name="Optimizer/VarianceIgnored" type="string" value="true"/>
|
||||
<param name="RGBD/PlanStuckIterations" type="string" value="10"/>
|
||||
|
||||
<param name="Kp/DetectorStrategy" type="string" value="0"/>
|
||||
<param name="Kp/MaxFeatures" type="string" value="300"/>
|
||||
|
||||
<param name="SURF/HessianThreshold" type="string" value="500"/>
|
||||
|
||||
<!-- 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>
|
||||
</group>
|
||||
|
||||
<!-- teleop -->
|
||||
<node name="joy" pkg="joy" type="joy_node"/>
|
||||
<group ns="teleop">
|
||||
<remap from="joy" to="/joy"/>
|
||||
<node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
|
||||
<param name="cmd_eta/abtr_priority" value="50"/>
|
||||
</group>
|
||||
|
||||
<!-- ROS navigation stack move_base -->
|
||||
<group ns="planner">
|
||||
<remap from="scan" to="/base_scan"/>
|
||||
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
|
||||
<remap from="ground_cloud" to="/ground_cloud"/>
|
||||
<remap from="map" to="/map"/>
|
||||
<remap from="move_base_simple/goal" to="/planner_goal"/>
|
||||
|
||||
<arg name="observation_sources" value="point_cloud_sensorA point_cloud_sensorB"/>
|
||||
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
|
||||
<param name="base_global_planner" value="navfn/NavfnROS"/>
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
|
||||
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
|
||||
<param name="global_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
|
||||
<param name="local_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
|
||||
</node>
|
||||
|
||||
<param name="cmd_vel/abtr_priority" value="10"/>
|
||||
</group>
|
||||
|
||||
<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
|
||||
<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
|
||||
</node>
|
||||
|
||||
<!-- Arbitration between teleop and planner -->
|
||||
<node name="register_cmd_eta" pkg="abtr_priority" type="register"
|
||||
args="/cmd_eta /teleop/cmd_eta"/>
|
||||
<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_ros/data_throttle camera_nodelet_manager">
|
||||
<param name="rate" type="double" value="5"/>
|
||||
<param name="decimation" type="int" value="2"/>
|
||||
|
||||
<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_resized_image"/>
|
||||
<remap from="depth/image_out" to="data_resized_image_depth"/>
|
||||
<remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
|
||||
</node>
|
||||
|
||||
<!-- for the planner -->
|
||||
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
|
||||
<remap from="depth/image" to="data_resized_image_depth"/>
|
||||
<remap from="depth/camera_info" to="data_resized_camera_info"/>
|
||||
<remap from="cloud" to="cloudXYZ" />
|
||||
<param name="decimation" type="int" value="1"/> <!-- already decimated above -->
|
||||
<param name="max_depth" type="double" value="3.0"/>
|
||||
<param name="voxel_size" type="double" value="0.02"/>
|
||||
</node>
|
||||
|
||||
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
|
||||
<remap from="cloud" to="cloudXYZ"/>
|
||||
<remap from="obstacles" to="/obstacles_cloud"/>
|
||||
<remap from="ground" to="/ground_cloud"/>
|
||||
|
||||
<param name="frame_id" type="string" value="base_footprint"/>
|
||||
<param name="map_frame_id" type="string" value="map"/>
|
||||
<param name="wait_for_transform" type="bool" value="true"/>
|
||||
<param name="min_cluster_size" type="int" value="20"/>
|
||||
<param name="max_obstacles_height" type="double" value="0.4"/>
|
||||
</node>
|
||||
</group>
|
||||
</launch>
|
||||
@@ -0,0 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- Xtion -->
|
||||
<param name="/camera/driver/data_skip" value="1" />
|
||||
<include file="$(find openni2_launch)/launch/openni2.launch">
|
||||
<arg name="depth_registration" value="True" />
|
||||
<arg name="rgb_camera_info_url"
|
||||
value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
|
||||
<arg name="depth_camera_info_url"
|
||||
value="file://$(find rtabmap_ros)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
|
||||
</include>
|
||||
|
||||
<!-- Xtion frame -->
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
|
||||
args="0.057 0.087 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
|
||||
|
||||
</launch>
|
||||
@@ -0,0 +1,13 @@
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
|
||||
<param name="gui" value="true" type="bool"/>
|
||||
<param name="settings_path" value="$(find rtabmap_ros)/launch/azimut3/config/azimut3_find_object.ini" type="str"/>
|
||||
<param name="subscribe_depth" value="true" type="bool"/>
|
||||
<param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
|
||||
|
||||
<remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
|
||||
<remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
|
||||
<remap from="depth_registered/camera_info" to="camera/data_throttled_camera_info_relay"/>
|
||||
</node>
|
||||
</launch>
|
||||
@@ -0,0 +1,28 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
|
||||
<include file="$(find az3_bringup)/az3_standalone.launch"/>
|
||||
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
|
||||
|
||||
<!-- OpenNI -->
|
||||
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
|
||||
|
||||
<!-- Throttling messages -->
|
||||
<group ns="camera">
|
||||
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
|
||||
<param name="rate" type="double" value="5.0"/>
|
||||
|
||||
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
|
||||
<remap from="depth/image_in" to="depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
|
||||
|
||||
<remap from="rgb/image_out" to="data_throttled_image"/>
|
||||
<remap from="depth/image_out" to="data_throttled_image_depth"/>
|
||||
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
|
||||
</node>
|
||||
</group>
|
||||
|
||||
<!-- SLAM is done on client side...-->
|
||||
</launch>
|
||||
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- Remote teleop -->
|
||||
<include file="$(find az3_bringup)/joystick.launch"/>
|
||||
|
||||
<!-- Visualization and SLAM nodes use same data, so just subscribe once and relay messages -->
|
||||
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
|
||||
<node name="odom_relay" type="relay" pkg="topic_tools" args="/base_controller/odom /base_controller/odom_relay"/>
|
||||
<node name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay"/>
|
||||
<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
|
||||
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
|
||||
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
|
||||
|
||||
<!-- SLAM client 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">
|
||||
<param name="frame_id" type="string" value="base_footprint"/>
|
||||
|
||||
<param name="subscribe_depth" type="bool" value="true"/>
|
||||
<param name="subscribe_laserScan" type="bool" value="true"/>
|
||||
|
||||
<remap from="odom" to="/base_controller/odom_relay"/>
|
||||
<remap from="scan" to="/base_scan_relay"/>
|
||||
|
||||
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
|
||||
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
|
||||
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
|
||||
|
||||
<param name="queue_size" type="int" value="10"/>
|
||||
|
||||
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
|
||||
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
|
||||
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
|
||||
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
|
||||
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
|
||||
<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
|
||||
<param name="LccIcp2/Iterations" type="string" value="100"/>
|
||||
<param name="LccIcp2/VoxelSize" type="string" value="0"/>
|
||||
<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
|
||||
<param name="LccBow/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
|
||||
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
|
||||
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
|
||||
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
|
||||
<param name="Rtabmap/TimeThr" type="string" value="700"/>
|
||||
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
|
||||
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
|
||||
</node>
|
||||
|
||||
<!-- Grid map assembler for rviz -->
|
||||
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
|
||||
</group>
|
||||
|
||||
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
|
||||
|
||||
<!-- Below, construct point cloud of the latest throttled data -->
|
||||
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
|
||||
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
|
||||
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
|
||||
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
|
||||
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
|
||||
<remap from="cloud" to="voxel_cloud" />
|
||||
|
||||
<param name="queue_size" type="int" value="10"/>
|
||||
<param name="voxel_size" type="double" value="0.01"/>
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
@@ -0,0 +1,370 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.434783
|
||||
Tree Height: 410
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
- /Current View1/Focal Point1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: LaserScan
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.03
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: map
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 2.02684
|
||||
Min Value: -1.12646
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: rgb
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 2.34177e-38
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 9.21942e-41
|
||||
Name: PointCloud2
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /voxel_cloud
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
az3_base_link:
|
||||
Value: true
|
||||
az3_odom:
|
||||
Value: true
|
||||
base_footprint:
|
||||
Value: true
|
||||
base_laser_link:
|
||||
Value: true
|
||||
base_link:
|
||||
Value: true
|
||||
map:
|
||||
Value: true
|
||||
odom:
|
||||
Value: true
|
||||
stereo_camera:
|
||||
Value: true
|
||||
stereo_camera_base:
|
||||
Value: true
|
||||
wheelLB_linkWheel_link:
|
||||
Value: true
|
||||
wheelLB_wheel_link:
|
||||
Value: true
|
||||
wheelLF_linkWheel_link:
|
||||
Value: true
|
||||
wheelLF_wheel_link:
|
||||
Value: true
|
||||
wheelRB_linkWheel_link:
|
||||
Value: true
|
||||
wheelRB_wheel_link:
|
||||
Value: true
|
||||
wheelRF_linkWheel_link:
|
||||
Value: true
|
||||
wheelRF_wheel_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
map:
|
||||
odom:
|
||||
base_footprint:
|
||||
base_link:
|
||||
base_laser_link:
|
||||
{}
|
||||
stereo_camera_base:
|
||||
stereo_camera:
|
||||
{}
|
||||
wheelLB_linkWheel_link:
|
||||
wheelLB_wheel_link:
|
||||
{}
|
||||
wheelLF_linkWheel_link:
|
||||
wheelLF_wheel_link:
|
||||
{}
|
||||
wheelRB_linkWheel_link:
|
||||
wheelRB_wheel_link:
|
||||
{}
|
||||
wheelRF_linkWheel_link:
|
||||
wheelRF_wheel_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 3.66965
|
||||
Min Value: -0.144665
|
||||
Value: true
|
||||
Axis: X
|
||||
Channel Name: intensity
|
||||
Class: rviz/LaserScan
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: AxisColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 5
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /base_scan
|
||||
Use Fixed Frame: false
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /rtabmap/grid_map
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_footprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_laser_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLB_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLB_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLF_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLF_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRB_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRB_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRF_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRF_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /camera/data_throttled_image_relay
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: raw
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
class: rtabmap_ros/MapCloud
|
||||
Cloud decimation: 4
|
||||
Cloud max depth (m): 3
|
||||
Cloud voxel size (m): 0.02
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Download graph: false
|
||||
Download map: false
|
||||
Enabled: true
|
||||
Filter floor (m): 0
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: MapCloud
|
||||
Node filtering angle (degrees): 20
|
||||
Node filtering radius (m): 0.2
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /rtabmap/mapData
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- class: rtabmap_ros/Info
|
||||
Enabled: true
|
||||
Name: Info
|
||||
Topic: /rtabmap/info
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /rtabmap/grid_projection_map
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
class: rtabmap_ros/OrbitOriented
|
||||
Distance: 7.83194
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.06
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.0199225
|
||||
Y: 0.23516
|
||||
Z: -0.0896359
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.01
|
||||
Pitch: 0.699796
|
||||
Target Frame: base_link
|
||||
Value: OrbitOriented (rtabmap)
|
||||
Yaw: 3.19875
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 763
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000229000000dd00fffffffb0000000a0049006d006100670065010000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1561
|
||||
X: 42
|
||||
Y: 108
|
||||
@@ -0,0 +1,479 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 0
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.601881
|
||||
Tree Height: 353
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: Info
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.03
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: map
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
base_footprint:
|
||||
Value: true
|
||||
base_laser_link:
|
||||
Value: true
|
||||
base_link:
|
||||
Value: true
|
||||
camera_depth_frame:
|
||||
Value: true
|
||||
camera_depth_optical_frame:
|
||||
Value: true
|
||||
camera_link:
|
||||
Value: true
|
||||
camera_rgb_frame:
|
||||
Value: true
|
||||
camera_rgb_optical_frame:
|
||||
Value: true
|
||||
map:
|
||||
Value: true
|
||||
odom:
|
||||
Value: true
|
||||
wheelLB_linkWheel_link:
|
||||
Value: true
|
||||
wheelLB_wheel_link:
|
||||
Value: true
|
||||
wheelLF_linkWheel_link:
|
||||
Value: true
|
||||
wheelLF_wheel_link:
|
||||
Value: true
|
||||
wheelRB_linkWheel_link:
|
||||
Value: true
|
||||
wheelRB_wheel_link:
|
||||
Value: true
|
||||
wheelRF_linkWheel_link:
|
||||
Value: true
|
||||
wheelRF_wheel_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
map:
|
||||
odom:
|
||||
base_footprint:
|
||||
base_link:
|
||||
base_laser_link:
|
||||
{}
|
||||
camera_link:
|
||||
camera_depth_frame:
|
||||
camera_depth_optical_frame:
|
||||
{}
|
||||
camera_rgb_frame:
|
||||
camera_rgb_optical_frame:
|
||||
{}
|
||||
wheelLB_linkWheel_link:
|
||||
wheelLB_wheel_link:
|
||||
{}
|
||||
wheelLF_linkWheel_link:
|
||||
wheelLF_wheel_link:
|
||||
{}
|
||||
wheelRB_linkWheel_link:
|
||||
wheelRB_wheel_link:
|
||||
{}
|
||||
wheelRF_linkWheel_link:
|
||||
wheelRF_wheel_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 3.46596
|
||||
Min Value: -5.27159e-08
|
||||
Value: true
|
||||
Axis: X
|
||||
Channel Name: intensity
|
||||
Class: rviz/LaserScan
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: AxisColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 5
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /base_scan_relay
|
||||
Use Fixed Frame: false
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /map
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Global costmap
|
||||
Topic: /planner/move_base/global_costmap/costmap
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: false
|
||||
Name: Local costmap
|
||||
Topic: /planner/move_base/local_costmap/costmap
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_footprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_laser_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLB_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLB_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLF_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLF_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRB_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRB_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRF_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRF_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /camera/throttled_image
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: theora
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rtabmap_ros/MapCloud
|
||||
Cloud decimation: 1
|
||||
Cloud max depth (m): 4
|
||||
Cloud voxel size (m): 0
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Download graph: false
|
||||
Download map: false
|
||||
Enabled: true
|
||||
Filter floor (m): 0.07
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: MapCloud
|
||||
Node filtering angle (degrees): 0
|
||||
Node filtering radius (m): 0
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /rtabmap/mapData
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Class: rtabmap_ros/Info
|
||||
Enabled: true
|
||||
Name: Info
|
||||
Topic: /rtabmap/info
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 255; 149; 57
|
||||
Enabled: true
|
||||
Line Style: Lines
|
||||
Line Width: 0.03
|
||||
Name: move_base global plan
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Topic: /planner/move_base/NavfnROS/plan
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 2; 14; 255
|
||||
Enabled: true
|
||||
Line Style: Lines
|
||||
Line Width: 0.03
|
||||
Name: move_base local plan
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 4.11231
|
||||
Min Value: -0.00766382
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 85; 255; 0
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: Voxel_cloud
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /voxel_cloud
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rtabmap_ros/MapGraph
|
||||
Enabled: true
|
||||
Global loop closure: 255; 0; 0
|
||||
Local loop closure: 255; 255; 0
|
||||
Merged neighbor: 255; 170; 0
|
||||
Name: MapGraph
|
||||
Neighbor: 0; 0; 255
|
||||
Topic: /rtabmap/mapGraph
|
||||
User: 255; 0; 0
|
||||
Value: true
|
||||
Virtual: 255; 0; 255
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 255; 0; 255
|
||||
Enabled: true
|
||||
Line Style: Lines
|
||||
Line Width: 0.03
|
||||
Name: Rtabmap global path
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Topic: /rtabmap/global_path
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 85; 255; 255
|
||||
Enabled: true
|
||||
Line Style: Lines
|
||||
Line Width: 0.03
|
||||
Name: Rtabmap local path
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Topic: /rtabmap/local_path
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Axes Length: 1
|
||||
Axes Radius: 0.1
|
||||
Class: rviz/Pose
|
||||
Color: 0; 255; 0
|
||||
Enabled: true
|
||||
Head Length: 0.3
|
||||
Head Radius: 0.1
|
||||
Name: Current goal
|
||||
Shaft Length: 1
|
||||
Shaft Radius: 0.05
|
||||
Shape: Arrow
|
||||
Topic: /rtabmap/current_goal
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Axes Length: 1
|
||||
Axes Radius: 0.1
|
||||
Class: rviz/Pose
|
||||
Color: 255; 25; 0
|
||||
Enabled: true
|
||||
Head Length: 0.3
|
||||
Head Radius: 0.1
|
||||
Name: Global goal
|
||||
Shaft Length: 1
|
||||
Shaft Radius: 0.05
|
||||
Shape: Arrow
|
||||
Topic: /rtabmap/goal
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /rtabmap/goal
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 13.3786
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.06
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: -1.4347
|
||||
Y: 1.38269
|
||||
Z: -0.0856586
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.01
|
||||
Pitch: 1.2448
|
||||
Target Frame: base_footprint
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.76044
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 800
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001a2000000dd00fffffffb0000000a0049006d00610067006501000001d0000000870000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000025d000000a50000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1228
|
||||
X: 396
|
||||
Y: 144
|
||||
@@ -0,0 +1,444 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 0
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.601881
|
||||
Tree Height: 304
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
- /Current View1/Focal Point1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: PointCloud2
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.03
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: map
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 2.02684
|
||||
Min Value: -1.12646
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: rgb
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: Intensity
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 2.34177e-38
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 9.21942e-41
|
||||
Name: PointCloud2
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /odom_last_frame
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
az3_base_link:
|
||||
Value: true
|
||||
az3_odom:
|
||||
Value: true
|
||||
base_footprint:
|
||||
Value: true
|
||||
base_laser_link:
|
||||
Value: true
|
||||
base_link:
|
||||
Value: true
|
||||
map:
|
||||
Value: true
|
||||
odom:
|
||||
Value: true
|
||||
stereo_camera:
|
||||
Value: true
|
||||
stereo_camera_base:
|
||||
Value: true
|
||||
wheelLB_linkWheel_link:
|
||||
Value: true
|
||||
wheelLB_wheel_link:
|
||||
Value: true
|
||||
wheelLF_linkWheel_link:
|
||||
Value: true
|
||||
wheelLF_wheel_link:
|
||||
Value: true
|
||||
wheelRB_linkWheel_link:
|
||||
Value: true
|
||||
wheelRB_wheel_link:
|
||||
Value: true
|
||||
wheelRF_linkWheel_link:
|
||||
Value: true
|
||||
wheelRF_wheel_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
map:
|
||||
odom:
|
||||
base_footprint:
|
||||
base_link:
|
||||
base_laser_link:
|
||||
{}
|
||||
stereo_camera_base:
|
||||
stereo_camera:
|
||||
{}
|
||||
wheelLB_linkWheel_link:
|
||||
wheelLB_wheel_link:
|
||||
{}
|
||||
wheelLF_linkWheel_link:
|
||||
wheelLF_wheel_link:
|
||||
{}
|
||||
wheelRB_linkWheel_link:
|
||||
wheelRB_wheel_link:
|
||||
{}
|
||||
wheelRF_linkWheel_link:
|
||||
wheelRF_wheel_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: -0.851967
|
||||
Min Value: -2.15198
|
||||
Value: true
|
||||
Axis: X
|
||||
Channel Name: intensity
|
||||
Class: rviz/LaserScan
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: AxisColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 5
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /base_scan
|
||||
Use Fixed Frame: false
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /map
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /planner/move_base/local_costmap/costmap
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: costmap
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /planner/move_base/global_costmap/costmap
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_footprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_laser_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLB_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLB_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLF_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelLF_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRB_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRB_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRF_linkWheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheelRF_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /stereo_camera/left/image_rect_color_relay
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: raw
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
class: rtabmap_ros/MapCloud
|
||||
Cloud decimation: 8
|
||||
Cloud max depth (m): 4
|
||||
Cloud voxel size (m): 0
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Download graph: false
|
||||
Download map: false
|
||||
Enabled: true
|
||||
Filter floor (m): 0.1
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: MapCloud
|
||||
Node filtering angle (degrees): 0
|
||||
Node filtering radius (m): 0
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /rtabmap/mapData_relay
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- class: rtabmap_ros/Info
|
||||
Enabled: true
|
||||
Name: Info
|
||||
Topic: /rtabmap/info
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Axes Length: 1
|
||||
Axes Radius: 0.1
|
||||
Class: rviz/Pose
|
||||
Color: 255; 25; 0
|
||||
Enabled: true
|
||||
Head Length: 0.3
|
||||
Head Radius: 0.1
|
||||
Name: Pose
|
||||
Shaft Length: 1
|
||||
Shaft Radius: 0.05
|
||||
Shape: Arrow
|
||||
Topic: /planner_goal
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 25; 255; 0
|
||||
Enabled: true
|
||||
Name: Path
|
||||
Topic: /planner/move_base/TrajectoryPlannerROS/global_plan
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 2; 14; 255
|
||||
Enabled: true
|
||||
Name: Path
|
||||
Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
class: rtabmap_ros/MapGraph
|
||||
Color: 0; 0; 255
|
||||
Enabled: true
|
||||
Name: MapGraph
|
||||
Topic: /rtabmap/mapData_relay
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/PointCloud2
|
||||
Color: 85; 255; 0
|
||||
Color Transformer: FlatColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: PointCloud2
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /odom_local_map
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /planner_goal
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
class: rtabmap_ros/OrbitOriented
|
||||
Distance: 6.3581
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.06
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.0235024
|
||||
Y: -0.0419514
|
||||
Z: 0.22792
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.01
|
||||
Pitch: 0.799797
|
||||
Target Frame: base_footprint
|
||||
Value: OrbitOriented (rtabmap)
|
||||
Yaw: 3.11245
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 765
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000151000002b7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000171000000dd00fffffffb0000000a0049006d006100670065010000019f000001400000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001d1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001d1000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000042f000002b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1414
|
||||
X: 159
|
||||
Y: 54
|
||||
@@ -0,0 +1,41 @@
|
||||
TrajectoryPlannerROS:
|
||||
|
||||
# Current limits based on AZ3 standalone configuration.
|
||||
acc_lim_x: 0.75
|
||||
acc_lim_y: 0.75
|
||||
acc_lim_theta: 4
|
||||
# min_vel_x and max_rotational_vel were set to keep the ICR at
|
||||
# minimal distance of 0.48 m.
|
||||
# Basically, max_rotational_vel * rho_min <= min_vel_x
|
||||
max_vel_x: 0.5
|
||||
min_vel_x: 0.24
|
||||
max_vel_theta: 0.5
|
||||
min_vel_theta: -0.5
|
||||
min_in_place_vel_theta: 0.25
|
||||
holonomic_robot: true
|
||||
|
||||
xy_goal_tolerance: 0.25
|
||||
yaw_goal_tolerance: 0.25
|
||||
latch_xy_goal_tolerance: true
|
||||
|
||||
# make sure that the minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.
|
||||
sim_time: 1.5 # set between 1 and 2. The higher he value, the smoother the path (though more samples would be required).
|
||||
sim_granularity: 0.025
|
||||
angular_sim_granularity: 0.05
|
||||
vx_samples: 12
|
||||
vtheta_samples: 20
|
||||
|
||||
meter_scoring: true
|
||||
|
||||
pdist_scale: 0.7 # The higher will follow more the global path.
|
||||
gdist_scale: 0.8
|
||||
occdist_scale: 0.01
|
||||
publish_cost_grid_pc: false
|
||||
|
||||
#move_base
|
||||
controller_frequency: 10.0 #The robot can move faster when higher.
|
||||
|
||||
#global planner
|
||||
NavfnROS:
|
||||
allow_unknown: true
|
||||
visualize_potential: false
|
||||
@@ -0,0 +1,10 @@
|
||||
footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]]
|
||||
footprint_padding: 0.02
|
||||
#robot_radius: 0.38
|
||||
#robot_radius: ir_of_robot
|
||||
inflation_layer:
|
||||
inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
|
||||
transform_tolerance: 2
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]]
|
||||
footprint_padding: 0.04
|
||||
inflation_layer:
|
||||
inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
|
||||
transform_tolerance: 2
|
||||
|
||||
obstacle_layer:
|
||||
obstacle_range: 2.5
|
||||
raytrace_range: 3
|
||||
max_obstacle_height: 0.4
|
||||
track_unknown_space: true
|
||||
|
||||
observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB
|
||||
|
||||
laser_scan_sensor: {
|
||||
data_type: LaserScan,
|
||||
topic: scan,
|
||||
expected_update_rate: 0.1,
|
||||
marking: true,
|
||||
clearing: true
|
||||
}
|
||||
|
||||
point_cloud_sensorA: {
|
||||
sensor_frame: base_footprint,
|
||||
data_type: PointCloud2,
|
||||
topic: obstacles_cloud,
|
||||
expected_update_rate: 0.5,
|
||||
marking: true,
|
||||
clearing: true,
|
||||
min_obstacle_height: 0.04
|
||||
}
|
||||
|
||||
point_cloud_sensorB: {
|
||||
sensor_frame: base_footprint,
|
||||
data_type: PointCloud2,
|
||||
topic: ground_cloud,
|
||||
expected_update_rate: 0.5,
|
||||
marking: false,
|
||||
clearing: true,
|
||||
min_obstacle_height: -1.0 # make sure the ground is not filtered
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
#global_costmap
|
||||
global_frame: map
|
||||
robot_base_frame: base_footprint
|
||||
update_frequency: 1
|
||||
publish_frequency: 1
|
||||
always_send_full_costmap: false
|
||||
plugins:
|
||||
- {name: static_layer, type: "rtabmap_ros::StaticLayer"}
|
||||
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
|
||||
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
|
||||
|
||||
@@ -0,0 +1,14 @@
|
||||
global_frame: odom
|
||||
robot_base_frame: base_footprint
|
||||
update_frequency: 2
|
||||
publish_frequency: 1
|
||||
rolling_window: true
|
||||
width: 3.0
|
||||
height: 3.0
|
||||
resolution: 0.025
|
||||
origin_x: 0
|
||||
origin_y: 0
|
||||
|
||||
plugins:
|
||||
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
|
||||
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
|
||||
@@ -0,0 +1,51 @@
|
||||
global_frame: odom
|
||||
robot_base_frame: base_footprint
|
||||
update_frequency: 2.0
|
||||
publish_frequency: 2.0
|
||||
rolling_window: true
|
||||
width: 4.0
|
||||
height: 4.0
|
||||
resolution: 0.025
|
||||
origin_x: -2.0
|
||||
origin_y: -2.0
|
||||
|
||||
plugins:
|
||||
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
|
||||
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
|
||||
|
||||
obstacle_layer:
|
||||
obstacle_range: 2.5
|
||||
raytrace_range: 3.0
|
||||
max_obstacle_height: 0.4
|
||||
track_unknown_space: true
|
||||
|
||||
observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB
|
||||
|
||||
laser_scan_sensor: {
|
||||
data_type: LaserScan,
|
||||
topic: base_scan,
|
||||
expected_update_rate: 0.2,
|
||||
marking: true,
|
||||
clearing: true
|
||||
}
|
||||
|
||||
point_cloud_sensorA: {
|
||||
sensor_frame: base_footprint,
|
||||
data_type: PointCloud2,
|
||||
topic: obstacles_cloud,
|
||||
expected_update_rate: 0.5,
|
||||
marking: true,
|
||||
clearing: true,
|
||||
min_obstacle_height: 0.04
|
||||
}
|
||||
|
||||
point_cloud_sensorB: {
|
||||
sensor_frame: base_footprint,
|
||||
data_type: PointCloud2,
|
||||
topic: ground_cloud,
|
||||
expected_update_rate: 0.5,
|
||||
marking: false,
|
||||
clearing: true,
|
||||
min_obstacle_height: -1.0 # make usre the ground is not filtered
|
||||
}
|
||||
|
||||
@@ -0,0 +1,33 @@
|
||||
local_costmap:
|
||||
global_frame: odom
|
||||
robot_base_frame: base_footprint
|
||||
update_frequency: 2.0
|
||||
publish_frequency: 2.0
|
||||
static_map: false
|
||||
rolling_window: true
|
||||
width: 4.0
|
||||
height: 4.0
|
||||
resolution: 0.025
|
||||
origin_x: -2.0
|
||||
origin_y: -2.0
|
||||
|
||||
#observation_sources: laser_scan_sensor point_cloud_sensor
|
||||
observation_sources: point_cloud_sensor
|
||||
|
||||
laser_scan_sensor: {
|
||||
data_type: LaserScan,
|
||||
topic: base_scan,
|
||||
expected_update_rate: 0.2,
|
||||
marking: true,
|
||||
clearing: true}
|
||||
|
||||
# assuming receiving a cloud from rtabmap/obstacles_detection node
|
||||
point_cloud_sensor: {
|
||||
sensor_frame: base_footprint,
|
||||
data_type: PointCloud2,
|
||||
topic: openni_points,
|
||||
expected_update_rate: 0.5,
|
||||
marking: true,
|
||||
clearing: true,
|
||||
min_obstacle_height: -99999.0,
|
||||
max_obstacle_height: 0.5}
|
||||
Reference in New Issue
Block a user