mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
ros-pkg: updated demo_stereo_outdoor.launch (cleanup parameters)
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1996 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -0,0 +1,245 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /Info1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 438
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: Image
|
||||
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: <Fixed Frame>
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
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: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rtabmap/MapCloud
|
||||
Cloud decimation: 4
|
||||
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
|
||||
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): 30
|
||||
Node filtering radius (m): 0.2
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Points
|
||||
Topic: /rtabmap/mapData_optimized
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rtabmap/MapGraph
|
||||
Color: 25; 255; 0
|
||||
Enabled: true
|
||||
Name: MapGraph
|
||||
Topic: /rtabmap/mapData_optimized
|
||||
Value: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /stereo_camera/left/image_rect_color
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: raw
|
||||
Value: true
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: false
|
||||
Name: Map
|
||||
Topic: /map
|
||||
Value: false
|
||||
- Class: rtabmap/Info
|
||||
Enabled: true
|
||||
Name: Info
|
||||
Topic: /rtabmap/info
|
||||
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/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rtabmap/OrbitOriented
|
||||
Distance: 6.60197
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.06
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.109544
|
||||
Y: 0.145557
|
||||
Z: 0.113349
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.01
|
||||
Pitch: 0.455398
|
||||
Target Frame: base_footprint
|
||||
Value: OrbitOriented (rtabmap)
|
||||
Yaw: 3.1304
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 872
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000013c00000322fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000245000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000273000000d70000001600ffffff000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ed000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c40000003efc0100000002fb0000000800540069006d00650000000000000004c4000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003fb0000032200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1341
|
||||
X: 147
|
||||
Y: 48
|
||||
@@ -41,6 +41,8 @@
|
||||
<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
|
||||
<param name="Rtabmap/TimeThr" type="string" value="700"/>
|
||||
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
|
||||
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="false"/>
|
||||
<param name="Bayes/FullPredictionUpdate" type="string" value="true"/>
|
||||
</node>
|
||||
|
||||
<!-- Visualisation (client side) -->
|
||||
|
||||
@@ -1,175 +1,106 @@
|
||||
<launch>
|
||||
|
||||
<!--
|
||||
from bag: rosbag record /stereo_camera/left/image_raw_throttle/compressed /stereo_camera/right/image_raw_throttle/compressed /stereo_camera/left/camera_info_throttle /stereo_camera/right/camera_info_throttle /tf
|
||||
-->
|
||||
<param name="use_sim_time" type="bool" value="True"/>
|
||||
|
||||
<node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
|
||||
<node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />
|
||||
|
||||
<!-- Run the ROS package stereo_image_proc for image rectification-->
|
||||
<group ns="/stereo_camera" >
|
||||
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
|
||||
|
||||
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
|
||||
<remap from="left/image_raw" to="left/image_raw_throttle_relay"/>
|
||||
<remap from="left/camera_info" to="left/camera_info_throttle"/>
|
||||
<remap from="right/image_raw" to="right/image_raw_throttle_relay"/>
|
||||
<remap from="right/camera_info" to="right/camera_info_throttle"/>
|
||||
<param name="disparity_range" value="128"/>
|
||||
</node>
|
||||
|
||||
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap/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>
|
||||
</group>
|
||||
|
||||
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
|
||||
<!--
|
||||
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
|
||||
<remap from="stereo" to="/stereo_camera"/>
|
||||
<remap from="image" to="image_rect"/>
|
||||
|
||||
<param name="base_link_frame_id" value="base_footprint"/>
|
||||
<param name="odom_frame_id" value="odom"/>
|
||||
<param name="ref_frame_change_method" value="1"/>
|
||||
<param name="queue_size" value="30"/>
|
||||
</node>
|
||||
<node name="camInfoL" type="relay" pkg="topic_tools" args="/stereo_camera/left/camera_info_throttle /stereo_camera/left/camera_info"/>
|
||||
<node name="camInfoR" type="relay" pkg="topic_tools" args="/stereo_camera/right/camera_info_throttle /stereo_camera/right/camera_info"/>
|
||||
-->
|
||||
<!--
|
||||
<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
|
||||
<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
|
||||
<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
|
||||
<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info_throttle" />
|
||||
<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info_throttle" />
|
||||
<remap from="odometry" to="stereo_odometer/odometry" />
|
||||
</node>
|
||||
-->
|
||||
<!--
|
||||
Demo of outdoor stereo mapping.
|
||||
From bag:
|
||||
$ rosbag record
|
||||
/stereo_camera/left/image_raw_throttle/compressed
|
||||
/stereo_camera/right/image_raw_throttle/compressed
|
||||
/stereo_camera/left/camera_info_throttle
|
||||
/stereo_camera/right/camera_info_throttle
|
||||
/tf
|
||||
|
||||
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
|
||||
$ roslaunch rtabmap demo_stereo_outdoor.launch
|
||||
$ rosbag play -.-clock stereo_oudoorA.bag
|
||||
-->
|
||||
|
||||
<param name="use_sim_time" type="bool" value="True"/>
|
||||
|
||||
<!-- Just to uncompress images for stereo_image_rect -->
|
||||
<node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
|
||||
<node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />
|
||||
|
||||
<!-- Run the ROS package stereo_image_proc for image rectification -->
|
||||
<group ns="/stereo_camera" >
|
||||
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
|
||||
|
||||
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
|
||||
<remap from="left/image_raw" to="left/image_raw_throttle_relay"/>
|
||||
<remap from="left/camera_info" to="left/camera_info_throttle"/>
|
||||
<remap from="right/image_raw" to="right/image_raw_throttle_relay"/>
|
||||
<remap from="right/camera_info" to="right/camera_info_throttle"/>
|
||||
<param name="disparity_range" value="128"/>
|
||||
</node>
|
||||
</group>
|
||||
|
||||
<!-- Stereo Odometry -->
|
||||
<node pkg="rtabmap" 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="/stereo_odometer/odometry"/>
|
||||
|
||||
<remap from="odom_local_map" to="/odom_local_map"/>
|
||||
<remap from="odom_last_frame" to="/odom_last_frame"/>
|
||||
<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="approx_sync" type="bool" value="false"/>
|
||||
<param name="queue_size" type="int" value="5"/>
|
||||
|
||||
<param name="Odom/Strategy" type="string" value="0"/>
|
||||
<param name="Odom/FeatureType" type="string" value="6"/>
|
||||
<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/MaxFeatures" type="string" value="0"/>
|
||||
<param name="Odom/MaxDepth" type="string" value="10"/>
|
||||
<param name="Odom/FeaturesRatio" type="string" value="0"/>
|
||||
<param name="Odom/Iterations" type="string" value="30"/>
|
||||
<param name="Odom/RefineIterations" type="string" value="5"/>
|
||||
|
||||
<param name="GFTT/MaxCorners" type="string" value="500"/>
|
||||
<param name="GFTT/MinDistance" type="string" value="5"/>
|
||||
|
||||
<param name="OdomBow/LocalHistorySize" type="string" value="1000"/>
|
||||
<param name="OdomBow/NNDR" type="string" value="0.8"/>
|
||||
|
||||
<param name="OdomFlow/WinSize" type="string" value="16"/>
|
||||
<param name="OdomFlow/MaxLevel" type="string" value="3"/>
|
||||
<param name="OdomFlow/Iterations" type="string" value="30"/>
|
||||
<param name="OdomFlow/Eps" type="string" value="0.01"/>
|
||||
|
||||
<param name="OdomSubPix/Iterations" type="string" value="20"/>
|
||||
<param name="OdomSubPix/WinSize" type="string" value="0"/>
|
||||
<param name="OdomSubPix/Eps" type="string" value="0.02"/>
|
||||
</node>
|
||||
|
||||
|
||||
<group ns="rtabmap">
|
||||
<!-- Visual SLAM (robot side) -->
|
||||
<!-- args: "delete_db_on_start" and "udebug" -->
|
||||
<node name="rtabmap" pkg="rtabmap" 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"/>
|
||||
</node>
|
||||
|
||||
<group ns="rtabmap">
|
||||
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
|
||||
<node name="rtabmap" pkg="rtabmap" 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="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="/stereo_odometer/odometry"/>
|
||||
<remap from="mapData" to="mapData_notOptimized"/>
|
||||
<remap from="odom" to="/odometry"/>
|
||||
|
||||
<param name="queue_size" type="int" value="30"/>
|
||||
<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="RGBD/ToroIterations" type="string" value="0"/> <!-- Disable graph optimization because we use map_optimizer node below -->
|
||||
<!-- 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="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
|
||||
<param name="Kp/DetectorStrategy" type="string" value="0"/>
|
||||
<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="Kp/NNStrategy" type="string" value="1"/>
|
||||
<param name="SURF/HessianThreshold" type="string" value="1000"/>
|
||||
|
||||
<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
|
||||
<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="SURF/HessianThreshold" type="string" value="1000"/>
|
||||
|
||||
<param name="LccBow/MaxDepth" type="string" value="3"/>
|
||||
<param name="LccBow/MinInliers" type="string" value="10"/>
|
||||
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
|
||||
|
||||
<param name="LccReextract/Activated" type="string" value="true"/>
|
||||
<param name="LccReextract/FeatureType" type="string" value="4"/>
|
||||
<param name="LccReextract/MaxWords" type="string" value="400"/>
|
||||
<param name="LccReextract/NNDR" type="string" value="0.8"/>
|
||||
<param name="LccReextract/NNType" type="string" value="3"/>
|
||||
</node>
|
||||
<param name="LccReextract/Activated" type="string" value="true"/>
|
||||
<param name="LccReextract/MaxWords" type="string" value="500"/>
|
||||
|
||||
<!-- Disable graph optimization because we use map_optimizer node below -->
|
||||
<param name="RGBD/ToroIterations" type="string" value="0"/>
|
||||
</node>
|
||||
|
||||
|
||||
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer">
|
||||
<remap from="mapData" to="mapData_notOptimized"/>
|
||||
<remap from="mapData_notOptimized_optimized" to="mapData"/>
|
||||
</node>
|
||||
<node pkg="rtabmap" type="map_assembler" name="map_assembler">
|
||||
<param name="occupancy_grid" type="bool" value="true"/>
|
||||
<remap from="grid_projection_map" to="/map"/>
|
||||
</node>
|
||||
|
||||
</group>
|
||||
<!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
|
||||
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
|
||||
|
||||
<node pkg="rtabmap" type="map_assembler" name="map_assembler">
|
||||
<param name="occupancy_grid" type="bool" value="true"/>
|
||||
<remap from="mapData" to="mapData_optimized"/>
|
||||
<remap from="grid_projection_map" to="/map"/>
|
||||
</node>
|
||||
|
||||
</group>
|
||||
|
||||
<!-- RVIZ -->
|
||||
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_nav.rviz"/>
|
||||
|
||||
<!-- RTABMAP GUI -->
|
||||
<!--
|
||||
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
|
||||
<param name="subscribe_depth" type="bool" value="false"/>
|
||||
<param name="subscribe_laserScan" type="bool" value="false"/>
|
||||
<param name="queue_size" type="int" value="30"/>
|
||||
|
||||
<remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
|
||||
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
|
||||
<remap from="depth/image" to="/odom_depth"/>
|
||||
|
||||
<remap from="odom" to="/stereo_odometer/odometry"/>
|
||||
</node>
|
||||
-->
|
||||
<!-- RVIZ -->
|
||||
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/demo_stereo_outdoor.rviz"/>
|
||||
|
||||
</launch>
|
||||
|
||||
Reference in New Issue
Block a user