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ros-pkg: updated demo_stereo_outdoor.launch (cleanup parameters)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1996 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-11-13 22:32:12 +00:00
parent 78471ac857
commit 2e1e97247b
4 changed files with 327 additions and 147 deletions
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launch/demo/demo_multi-session_mapping.launch
+2
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@@ -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) -->
launch/demo/demo_stereo_outdoor.launch
+78 -147
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@@ -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>