mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
First version rtabmap_launch working
This commit is contained in:
matlabbe
@@ -0,0 +1,13 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(rtabmap_ros)
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catkin_package()
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#############
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## Install ##
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#############
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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@@ -0,0 +1,276 @@
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<?xml version="1.0"?>
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<!-- -->
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<launch>
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<!-- Deprecated: use "roslaunch rtabmap_launch rtambap.launch" instead -->
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<!-- Choose between depth and stereo, set both to false to do only scan -->
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<arg name="stereo" default="false"/>
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<arg if="$(arg stereo)" name="depth" default="false"/>
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<arg unless="$(arg stereo)" name="depth" default="true"/>
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<arg name="subscribe_rgb" default="$(arg depth)"/>
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<!-- Choose visualization -->
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<arg name="rtabmapviz" default="true" />
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<arg name="rviz" default="false" />
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<!-- Localization-only mode -->
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<arg name="localization" default="false"/>
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<arg name="initial_pose" default=""/> <!-- Format: "x y z roll pitch yaw" or "x y z qx qy qz qw". Default: see "RGBD/StartAtOrigin" doc -->
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<!-- sim time for convenience, if playing a rosbag -->
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<arg name="use_sim_time" default="false"/>
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<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
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<!-- Corresponding config files -->
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<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
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<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
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<arg name="rviz_cfg" default="$(find rtabmap_launch)/launch/config/rgbd.rviz" />
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<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
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<arg name="odom_frame_id" default=""/> <!-- If set, TF is used to get odometry instead of the topic -->
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<arg name="odom_frame_id_init" default=""/> <!-- If set, TF map->odom is published even if no odometry topic has been received yet. The frame id should match the one in the topic. -->
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<arg name="map_frame_id" default="map"/>
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<arg name="ground_truth_frame_id" default=""/> <!-- e.g., "world" -->
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<arg name="ground_truth_base_frame_id" default=""/> <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
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<arg name="namespace" default="rtabmap"/>
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<arg name="database_path" default="~/.ros/rtabmap.db"/>
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<arg name="queue_size" default="10"/>
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<arg name="wait_for_transform" default="0.2"/>
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<arg name="args" default=""/> <!-- delete_db_on_start, udebug -->
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<arg name="rtabmap_args" default="$(arg args)"/> <!-- deprecated, use "args" argument -->
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<arg name="gdb" default="false"/> <!-- Launch nodes in gdb for debugging (apt install xterm gdb) -->
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<arg if="$(arg gdb)" name="launch_prefix" default="xterm -e gdb -q -ex run --args"/>
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<arg unless="$(arg gdb)" name="launch_prefix" default=""/>
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<arg name="clear_params" default="true"/>
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<arg name="output" default="screen"/> <!-- Control node output (screen or log) -->
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<arg name="publish_tf_map" default="true"/>
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<!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
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<arg if="$(arg stereo)" name="approx_sync" default="false"/>
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<arg unless="$(arg stereo)" name="approx_sync" default="$(arg depth)"/>
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<arg name="approx_sync_max_interval" default="0"/> <!-- (sec) 0 means infinite interval duration (used with approx_sync=true) -->
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<!-- RGB-D related topics -->
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<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
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<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
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<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
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<arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
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<!-- stereo related topics -->
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<arg name="stereo_namespace" default="/stereo_camera"/>
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<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
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<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
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<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
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<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
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<!-- Already synchronized RGB-D related topic, with rtabmap_sync/rgbd_sync nodelet -->
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<arg name="rgbd_sync" default="false"/> <!-- pre-sync rgb_topic, depth_topic, camera_info_topic -->
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<arg name="approx_rgbd_sync" default="true"/> <!-- false=exact synchronization -->
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<arg name="subscribe_rgbd" default="$(arg rgbd_sync)"/>
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<arg name="rgbd_topic" default="rgbd_image" />
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<arg name="depth_scale" default="1.0" /> <!-- Deprecated, use rgbd_depth_scale instead -->
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<arg name="rgbd_depth_scale" default="$(arg depth_scale)" />
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<arg name="rgbd_decimation" default="1" />
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<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
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<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
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<arg name="depth_image_transport" default="compressedDepth"/> <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->
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<arg name="gen_cloud" default="false"/> <!-- only works with depth image and if not subscribing to scan_cloud topic-->
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<arg name="gen_cloud_decimation" default="4"/>
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<arg name="gen_cloud_voxel" default="0.05"/>
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<arg name="subscribe_scan" default="false"/>
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<arg name="scan_topic" default="/scan"/>
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<arg name="subscribe_scan_cloud" default="$(arg gen_cloud)"/>
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<arg name="scan_cloud_topic" default="/scan_cloud"/>
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<arg name="subscribe_scan_descriptor" default="false"/>
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<arg name="scan_descriptor_topic" default="/scan_descriptor"/>
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<arg name="scan_deskewing" default="false"/>
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<arg name="scan_deskewing_slerp" default="false"/>
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<arg name="scan_cloud_max_points" default="0"/>
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<arg name="scan_cloud_filtered" default="$(arg scan_deskewing)"/> <!-- use filtered cloud from icp_odometry for mapping -->
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<arg name="gen_scan" default="false"/> <!-- only works with depth image and if not subscribing to scan topic-->
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<arg name="gen_depth" default="false" /> <!-- Generate depth image from scan_cloud -->
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<arg name="gen_depth_decimation" default="1" />
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<arg name="gen_depth_fill_holes_size" default="0" />
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<arg name="gen_depth_fill_iterations" default="1" />
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<arg name="gen_depth_fill_holes_error" default="0.1" />
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<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
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<arg name="icp_odometry" default="false"/> <!-- Launch rtabmap icp odometry node -->
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<arg name="odom_topic" default="odom"/> <!-- Odometry topic name -->
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<arg name="vo_frame_id" default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
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<arg name="publish_tf_odom" default="true"/>
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<arg name="odom_tf_angular_variance" default="0.001"/> <!-- If TF is used to get odometry, this is the default angular variance -->
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<arg name="odom_tf_linear_variance" default="0.001"/> <!-- If TF is used to get odometry, this is the default linear variance -->
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<arg name="odom_args" default=""/> <!-- More arguments for odometry (overwrite same parameters in rtabmap_args) -->
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<arg name="odom_sensor_sync" default="false"/>
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<arg name="odom_guess_frame_id" default=""/>
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<arg name="odom_guess_min_translation" default="0"/>
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<arg name="odom_guess_min_rotation" default="0"/>
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<arg name="odom_max_rate" default="0"/>
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<arg name="odom_expected_rate" default="0"/>
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<arg name="imu_topic" default="/imu/data"/> <!-- only used with VIO approaches -->
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<arg name="wait_imu_to_init" default="false"/>
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<arg name="use_odom_features" default="false"/>
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<arg name="scan_cloud_assembling" default="false"/>
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<arg name="scan_cloud_assembling_time" default="1"/> <!-- max_clouds and time should not be set at the same time -->
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<arg name="scan_cloud_assembling_max_clouds" default="0"/> <!-- max_clouds and time should not be set at the same time -->
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<arg name="scan_cloud_assembling_fixed_frame" default=""/>
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<arg name="scan_cloud_assembling_voxel_size" default="0.05"/>
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<arg name="scan_cloud_assembling_range_min" default="0.0"/> <!-- 0=disabled -->
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<arg name="scan_cloud_assembling_range_max" default="0.0"/> <!-- 0=disabled -->
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<arg name="scan_cloud_assembling_noise_radius" default="0.0"/> <!-- 0=disabled -->
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<arg name="scan_cloud_assembling_noise_min_neighbors" default="5"/>
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<arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription -->
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<arg name="user_data_topic" default="/user_data"/>
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<arg name="user_data_async_topic" default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->
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<arg name="gps_topic" default="/gps/fix" /> <!-- gps async subscription -->
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<arg name="tag_topic" default="/tag_detections" /> <!-- apriltags async subscription -->
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<arg name="tag_linear_variance" default="0.0001" />
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<arg name="tag_angular_variance" default="9999" /> <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->
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<arg name="fiducial_topic" default="/fiducial_transforms" /> <!-- aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covriance -->
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<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
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<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
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<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
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<arg if="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)_relay"/>
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<arg unless="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)"/>
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<arg if="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)_relay"/>
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<arg unless="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)"/>
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<arg if="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)_relay"/>
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<arg unless="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)"/>
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<arg if="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)"/>
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<arg unless="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)_relay"/>
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<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
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<arg name="stereo" value="$(arg stereo)"/>
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<arg name="depth" value="$(arg depth)"/>
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<arg name="subscribe_rgb" value="$(arg subscribe_rgb)"/>
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<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
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<arg name="rviz" value="$(arg rviz)" />
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<arg name="localization" value="$(arg localization)"/>
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<arg name="initial_pose" value="$(arg initial_pose)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="cfg" value="$(arg cfg)" />
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<arg name="gui_cfg" value="$(arg gui_cfg)" />
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<arg name="rviz_cfg" value="$(arg rviz_cfg)" />
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<arg name="frame_id" value="$(arg frame_id)"/>
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<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
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<arg name="odom_frame_id_init" value="$(arg odom_frame_id_init)"/>
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<arg name="map_frame_id" value="$(arg map_frame_id)"/>
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<arg name="ground_truth_frame_id" value="$(arg ground_truth_frame_id)"/>
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<arg name="ground_truth_base_frame_id" value="$(arg ground_truth_base_frame_id)"/>
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<arg name="namespace" value="$(arg namespace)"/>
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<arg name="database_path" value="$(arg database_path)"/>
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<arg name="queue_size" value="$(arg queue_size)"/>
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<arg name="wait_for_transform" value="$(arg wait_for_transform)"/>
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<arg name="args" value="$(arg args)"/>
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<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
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<arg name="gdb" value="$(arg gdb)"/>
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<arg name="launch_prefix" value="$(arg launch_prefix)"/>
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<arg name="clear_params" value="$(arg clear_params)"/>
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<arg name="output" value="$(arg output)"/>
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<arg name="publish_tf_map" value="$(arg publish_tf_map)"/>
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<arg name="approx_sync" value="$(arg approx_sync)"/>
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<arg name="approx_sync_max_interval" value="$(arg approx_sync_max_interval)"/>
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<arg name="rgb_topic" value="$(arg rgb_topic)" />
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<arg name="depth_topic" value="$(arg depth_topic)" />
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<arg name="camera_info_topic" value="$(arg camera_info_topic)" />
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<arg name="depth_camera_info_topic" value="$(arg depth_camera_info_topic)" />
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<arg name="stereo_namespace" value="$(arg stereo_namespace)"/>
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<arg name="left_image_topic" value="$(arg left_image_topic)" />
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<arg name="right_image_topic" value="$(arg right_image_topic)" />
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<arg name="left_camera_info_topic" value="$(arg left_camera_info_topic)" />
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<arg name="right_camera_info_topic" value="$(arg right_camera_info_topic)" />
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<arg name="rgbd_sync" value="$(arg rgbd_sync)"/>
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<arg name="approx_rgbd_sync" value="$(arg approx_rgbd_sync)"/>
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<arg name="subscribe_rgbd" value="$(arg subscribe_rgbd)"/>
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<arg name="rgbd_topic" value="$(arg rgbd_topic)" />
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<arg name="depth_scale" value="$(arg depth_scale)" />
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<arg name="rgbd_depth_scale" value="$(arg rgbd_depth_scale)" />
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<arg name="rgbd_decimation" value="$(arg rgbd_decimation)" />
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<arg name="compressed" value="$(arg compressed)"/>
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<arg name="rgb_image_transport" value="$(arg rgb_image_transport)"/>
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<arg name="depth_image_transport" value="$(arg depth_image_transport)"/>
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<arg name="gen_cloud" value="$(arg gen_cloud)"/>
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<arg name="gen_cloud_decimation" value="$(arg gen_cloud_decimation)"/>
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<arg name="gen_cloud_voxel" value="$(arg gen_cloud_voxel)"/>
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<arg name="subscribe_scan" value="$(arg subscribe_scan)"/>
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<arg name="scan_topic" value="$(arg scan_topic)"/>
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<arg name="subscribe_scan_cloud" value="$(arg subscribe_scan_cloud)"/>
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<arg name="scan_cloud_topic" value="$(arg scan_cloud_topic)"/>
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<arg name="subscribe_scan_descriptor" value="$(arg subscribe_scan_descriptor)"/>
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<arg name="scan_descriptor_topic" value="$(arg scan_descriptor_topic)"/>
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<arg name="scan_deskewing" value="$(arg scan_deskewing)"/>
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<arg name="scan_deskewing_slerp" value="$(arg scan_deskewing_slerp)"/>
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<arg name="scan_cloud_max_points" value="$(arg scan_cloud_max_points)"/>
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<arg name="scan_cloud_filtered" value="$(arg scan_cloud_filtered)"/>
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<arg name="gen_scan" value="$(arg gen_scan)"/>
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<arg name="gen_depth" value="$(arg gen_depth)" />
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<arg name="gen_depth_decimation" value="$(arg gen_depth_decimation)" />
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<arg name="gen_depth_fill_holes_size" value="$(arg gen_depth_fill_holes_size)" />
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<arg name="gen_depth_fill_iterations" value="$(arg gen_depth_fill_iterations)" />
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<arg name="gen_depth_fill_holes_error" value="$(arg gen_depth_fill_holes_error)" />
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<arg name="visual_odometry" value="$(arg visual_odometry)"/>
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<arg name="icp_odometry" value="$(arg icp_odometry)"/>
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<arg name="odom_topic" value="$(arg odom_topic)"/>
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<arg name="vo_frame_id" value="$(arg vo_frame_id)"/>
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<arg name="publish_tf_odom" value="$(arg publish_tf_odom)"/>
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<arg name="odom_tf_angular_variance" value="$(arg odom_tf_angular_variance)"/>
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<arg name="odom_tf_linear_variance" value="$(arg odom_tf_linear_variance)"/>
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<arg name="odom_args" value="$(arg odom_args)"/>
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<arg name="odom_sensor_sync" value="$(arg odom_sensor_sync)"/>
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<arg name="odom_guess_frame_id" value="$(arg odom_guess_frame_id)"/>
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<arg name="odom_guess_min_translation" value="$(arg odom_guess_min_translation)"/>
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<arg name="odom_guess_min_rotation" value="$(arg odom_guess_min_rotation)"/>
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<arg name="odom_max_rate" value="$(arg odom_max_rate)"/>
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<arg name="odom_expected_rate" value="$(arg odom_expected_rate)"/>
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<arg name="imu_topic" value="$(arg imu_topic)"/>
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<arg name="wait_imu_to_init" value="$(arg wait_imu_to_init)"/>
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<arg name="use_odom_features" value="$(arg use_odom_features)"/>
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<arg name="scan_cloud_assembling" value="$(arg scan_cloud_assembling)"/>
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<arg name="scan_cloud_assembling_time" value="$(arg scan_cloud_assembling_time)"/>
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<arg name="scan_cloud_assembling_max_clouds" value="$(arg scan_cloud_assembling_max_clouds)"/>
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<arg name="scan_cloud_assembling_fixed_frame" value="$(arg scan_cloud_assembling_fixed_frame)"/>
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<arg name="scan_cloud_assembling_voxel_size" value="$(arg scan_cloud_assembling_voxel_size)"/>
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<arg name="scan_cloud_assembling_range_min" value="$(arg scan_cloud_assembling_range_min)"/>
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<arg name="scan_cloud_assembling_range_max" value="$(arg scan_cloud_assembling_range_max)"/>
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<arg name="scan_cloud_assembling_noise_radius" value="$(arg scan_cloud_assembling_noise_radius)"/>
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<arg name="scan_cloud_assembling_noise_min_neighbors" value="$(arg scan_cloud_assembling_noise_min_neighbors)"/>
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<arg name="subscribe_user_data" value="$(arg subscribe_user_data)"/>
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<arg name="user_data_topic" value="$(arg user_data_topic)"/>
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<arg name="user_data_async_topic" value="$(arg user_data_async_topic)" />
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<arg name="gps_topic" value="$(arg gps_topic)" />
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<arg name="tag_topic" value="$(arg tag_topic)" />
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<arg name="tag_linear_variance" value="$(arg tag_linear_variance)" />
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<arg name="tag_angular_variance" value="$(arg tag_angular_variance)" />
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<arg name="fiducial_topic" value="$(arg fiducial_topic)" />
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</include>
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</launch>
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@@ -0,0 +1,32 @@
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<?xml version="1.0"?>
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<package format="2">
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<name>rtabmap_ros</name>
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<version>0.1.0</version>
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<description>
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RTAB-Map Stack
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</description>
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<maintainer email="[email protected]">Mathieu Labbe</maintainer>
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<author>Mathieu Labbe</author>
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<license>BSD</license>
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<url type="bugtracker">https://github.com/introlab/rtabmap_ros/issues</url>
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<url type="repository">https://github.com/introlab/rtabmap_ros</url>
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<buildtool_depend>catkin</buildtool_depend>
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<exec_depend>rtabmap_conversions</exec_depend>
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<exec_depend>rtabmap_costmap_plugins</exec_depend>
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<exec_depend>rtabmap_demos</exec_depend>
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<exec_depend>rtabmap_examples</exec_depend>
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<exec_depend>rtabmap_launch</exec_depend>
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<exec_depend>rtabmap_legacy</exec_depend>
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<exec_depend>rtabmap_msgs</exec_depend>
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<exec_depend>rtabmap_odometry</exec_depend>
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<exec_depend>rtabmap_legacy</exec_depend>
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<exec_depend>rtabmap_python</exec_depend>
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<exec_depend>rtabmap_rviz_plugins</exec_depend>
|
||||
<exec_depend>rtabmap_slam</exec_depend>
|
||||
<exec_depend>rtabmap_sync</exec_depend>
|
||||
<exec_depend>rtabmap_util</exec_depend>
|
||||
<exec_depend>rtabmap_viz</exec_depend>
|
||||
|
||||
</package>
|
||||
Reference in New Issue
Block a user