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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"/>