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added test_d435i_vio.launch example (VINS-Fusion integration)

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matlabbe
2019-08-15 16:45:35 -04:00
parent f859eca619
commit 34c75139f2
5 changed files with 75 additions and 10 deletions
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launch/tests/euroc_datasets.launch
+7 -7
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@@ -11,23 +11,23 @@ Examples:
$ rosbag play -.-clock MH_01_easy.bag
MSCKF (VIO):
$ roslaunch rtabmap_ros euroc_datasets.launch args:="--Odom/Strategy 8"
$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 8"
$ rosbag play -.-clock V1_01_easy.bag
We need to ignore the first 24 seconds for correct VIO initialization (drone should not move).
$ roslaunch rtabmap_ros euroc_datasets.launch args:="--Odom/Strategy 8" MH_seq:=true
$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 8" MH_seq:=true
$ rosbag play -.-clock -s 24 MH_01_easy.bag
OKVIS (VIO):
$ roslaunch rtabmap_ros euroc_datasets.launch args:="--Odom/Strategy 6 OdomOKVIS/ConfigPath ~/okvis/config/config_fpga_p2_euroc.yaml" MH_seq:=true raw_images_for_odom:=true
$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 6 OdomOKVIS/ConfigPath ~/okvis/config/config_fpga_p2_euroc.yaml" MH_seq:=true raw_images_for_odom:=true
$ rosbag play -.-clock MH_01_easy.bag
VINS (VIO):
$ roslaunch rtabmap_ros euroc_datasets.launch args:="--Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml" MH_seq:=true raw_images_for_odom:=true
$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml" MH_seq:=true raw_images_for_odom:=true
$ rosbag play -.-clock MH_01_easy.bag
VINS (VO):
$ roslaunch rtabmap_ros euroc_datasets.launch args:="--Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml" MH_seq:=true raw_images_for_odom:=true
$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml" MH_seq:=true raw_images_for_odom:=true
$ rosbag play -.-clock MH_01_easy.bag
-->
@@ -99,8 +99,8 @@ Examples:
<!-- RTAB-Map -->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg if="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg args) --Rtabmap/ImagesAlreadyRectified false"/>
<arg unless="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg args)"/>
<arg if="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg common_args) --Rtabmap/ImagesAlreadyRectified false"/>
<arg unless="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg common_args)"/>
<arg if="$(arg raw_images_for_odom)" name="odom_args" value="--Rtabmap/ImagesAlreadyRectified false"/>
<arg if="$(arg raw_images_for_odom)" name="left_image_topic" value="/cam0/image_raw"/>
<arg if="$(arg raw_images_for_odom)" name="right_image_topic" value="/cam1/image_raw"/>
launch/tests/test_d435i_vio.launch
+62
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@@ -0,0 +1,62 @@
<launch>
<!-- Example usage of RTAB-Map with VINS-Fusion support for realsense D435i -->
<arg name="rtabmapviz" default="true"/>
<arg name="rviz" default="false"/>
<arg name="depth_mode" default="true"/>
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="align_depth" value="true"/>
<arg name="unite_imu_method" value="linear_interpolation"/>
</include>
<node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_node">
<param name="use_mag" value="false"/>
<param name="publish_tf" value="false"/>
<param name="world_frame" value="enu"/>
<remap from="/imu/data_raw" to="/camera/imu"/>
<remap from="/imu/data" to="/rtabmap/imu"/>
</node>
<!-- RTAB-Map: depth mode -->
<!-- We have to launch stereo_odometry externally from rtabmap.launch so that rtabmap can use RGB-D input -->
<group ns="rtabmap">
<node if="$(arg depth_mode)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" args="--Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml">
<remap from="left/image_rect" to="/camera/infra1/image_rect_raw"/>
<remap from="right/image_rect" to="/camera/infra2/image_rect_raw"/>
<remap from="left/camera_info" to="/camera/infra1/camera_info"/>
<remap from="right/camera_info" to="/camera/infra2/camera_info"/>
<remap from="imu" to="/rtabmap/imu"/>
<param name="frame_id" value="camera_link"/>
<param name="wait_imu_to_init" value="true"/>
</node>
</group>
<include if="$(arg depth_mode)" file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3"/>
<arg name="rgb_topic" value="/camera/color/image_raw"/>
<arg name="depth_topic" value="/camera/aligned_depth_to_color/image_raw"/>
<arg name="camera_info_topic" value="/camera/color/camera_info"/>
<arg name="visual_odometry" value="false"/>
<arg name="frame_id" value="camera_link"/>
<arg name="imu_topic" value="/rtabmap/imu"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
<arg name="rviz" value="$(arg rviz)"/>
</include>
<!-- RTAB-Map: Stereo mode -->
<include unless="$(arg depth_mode)" file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml"/>
<arg name="left_image_topic" value="/camera/infra1/image_rect_raw"/>
<arg name="right_image_topic" value="/camera/infra2/image_rect_raw"/>
<arg name="left_camera_info_topic" value="/camera/infra1/camera_info"/>
<arg name="right_camera_info_topic" value="/camera/infra2/camera_info"/>
<arg name="stereo" value="true"/>
<arg name="frame_id" value="camera_link"/>
<arg name="imu_topic" value="/rtabmap/imu"/>
<arg name="wait_imu_to_init" value="true"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
<arg name="rviz" value="$(arg rviz)"/>
</include>
</launch>