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Updated rtabmap_legacy launch files with new strucutre

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This commit is contained in:
matlabbe
2023-03-04 16:04:24 -08:00
parent f5f6097a20
commit 36200b1df0
41 changed files with 101 additions and 656 deletions
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rtabmap_legacy/launch/azimut3/az3_bag_mapping.launch
+2 -2
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@@ -7,7 +7,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -48,6 +48,6 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
<!-- Visualisation -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_client.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_mapping_client.launch"/>
</launch>
rtabmap_legacy/launch/azimut3/az3_bag_record.launch
+2 -2
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@@ -17,11 +17,11 @@
<node pkg="joy" type="joy_node" name="joystick"/>
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_legacy/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="10.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
rtabmap_legacy/launch/azimut3/az3_db_record.launch
+3 -3
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@@ -8,11 +8,11 @@
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_legacy/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="10.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
@@ -25,7 +25,7 @@
</node>
</group>
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
<node name="data_recorder" pkg="rtabmap_legacy" type="data_recorder" output="screen">
<param name="output_file_name" value="az3_record.db" type="string"/>
<param name="frame_id" type="string" value="base_footprint"/>
rtabmap_legacy/launch/azimut3/az3_mapping_client.launch
+3 -3
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@@ -13,16 +13,16 @@
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<node pkg="rtabmap_legacy" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData_relay"/>
<remap from="grid_map" to="rtabmap/grid_map"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_legacy)/launch/azimut3/config/azimut3.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_util/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
rtabmap_legacy/launch/azimut3/az3_mapping_client_stereo_nav.launch
+1 -1
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@@ -6,5 +6,5 @@
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/stereo_camera/left/image_rect_color raw out:=/stereo_camera/left/image_rect_color_relay" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_stereo_nav.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_legacy)/launch/azimut3/config/azimut3_stereo_nav.rviz"/>
</launch>
rtabmap_legacy/launch/azimut3/az3_mapping_robot.launch
+3 -3
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@@ -7,11 +7,11 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_legacy/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
@@ -27,7 +27,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_odom.launch
+3 -3
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@@ -7,11 +7,11 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_legacy/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
@@ -27,7 +27,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_only.launch
+2 -2
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@@ -10,10 +10,10 @@
<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
<!-- use same launch file as "Kinect + Odometry" configuration -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
<!-- Odometry -->
<node pkg="rtabmap_ros" type="visual_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_odom" type="visual_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_scan.launch
+10 -10
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@@ -9,11 +9,11 @@
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_openni.launch"/>
<!-- SLAM (robot side) -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="use_action_for_goal" type="bool" value="true"/>
@@ -63,11 +63,11 @@
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
@@ -85,7 +85,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_legacy/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="3"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
@@ -99,7 +99,7 @@
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="obstacle_nodelet_manager" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz obstacle_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_util/point_cloud_xyz obstacle_nodelet_manager">
<remap from="depth/image" to="throttled_image_depth"/>
<remap from="depth/camera_info" to="throttled_camera_info"/>
<remap from="cloud" to="cloudXYZ" />
@@ -108,7 +108,7 @@
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection obstacle_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_util/obstacles_detection obstacle_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
rtabmap_legacy/launch/azimut3/az3_mapping_robot_stereo_nav.launch
+10 -10
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@@ -26,11 +26,11 @@
<remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_3d.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/local_costmap_params_3d.yaml" command="load" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
@@ -70,7 +70,7 @@
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
Throttle camera images -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap_ros/stereo_throttle stereo_nodelet">
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap_legacy/stereo_throttle stereo_nodelet">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
@@ -89,7 +89,7 @@
</node>
<!-- Create point cloud for the planner -->
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_ros/point_cloud_xyz stereo_nodelet">
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_util/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"/>
@@ -98,7 +98,7 @@
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection stereo_nodelet">
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_util/obstacles_detection stereo_nodelet">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/planner_cloud"/>
@@ -111,7 +111,7 @@
</group>
<!-- Visual Odometry -->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<node pkg="rtabmap_odom" 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"/>
@@ -132,7 +132,7 @@
<group ns="rtabmap">
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" 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"/>
rtabmap_legacy/launch/azimut3/az3_nav.launch
+10 -10
View File
@@ -11,11 +11,11 @@
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_openni.launch"/>
<!-- SLAM (robot side) -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="use_action_for_goal" type="bool" value="true"/>
@@ -92,11 +92,11 @@
<remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
@@ -114,7 +114,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_legacy/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="5"/>
<param name="decimation" type="int" value="2"/>
@@ -128,7 +128,7 @@
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_util/point_cloud_xyz camera_nodelet_manager">
<remap from="depth/image" to="data_resized_image_depth"/>
<remap from="depth/camera_info" to="data_resized_camera_info"/>
<remap from="cloud" to="cloudXYZ" />
@@ -137,7 +137,7 @@
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_util/obstacles_detection camera_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
rtabmap_legacy/launch/azimut3/az3_nav_client.launch
+3 -3
View File
@@ -18,7 +18,7 @@
<node if="$(arg sub_data)" name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_resized_image raw out:=/camera/data_resized_image_relay" />
<node if="$(arg sub_data)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_resized_image_depth raw out:=/camera/data_resized_image_depth_relay" />
<node if="$(arg sub_data)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<node if="$(arg sub_data)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_util/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/data_resized_image_relay"/>
<remap from="depth/image" to="/camera/data_resized_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_resized_camera_info"/>
@@ -27,7 +27,7 @@
<group ns="rtabmap">
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmapviz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="~/.ros/rtabmap_gui.ini" output="screen">
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="odom" to="/base_controller/odom"/>
@@ -44,5 +44,5 @@
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_legacy)/launch/azimut3/config/azimut3_nav.rviz"/>
</launch>
rtabmap_legacy/launch/azimut3/az3_nav_kinect-only.launch
+2 -2
View File
@@ -15,14 +15,14 @@
<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
<!-- use same launch file as "Kinect + Odometry" configuration -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_nav_kinect_odom.launch">
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_nav_kinect_odom.launch">
<arg name="localization" value="$(arg localization)"/>
<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
</include>
<!-- Odometry -->
<group ns="rtabmap">
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_odom" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
rtabmap_legacy/launch/azimut3/az3_nav_kinect_odom.launch
+10 -10
View File
@@ -11,11 +11,11 @@
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_openni.launch"/>
<!-- SLAM (robot side) -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_scan" type="bool" value="false"/>
<param name="use_action_for_goal" type="bool" value="true"/>
@@ -100,11 +100,11 @@
<arg name="observation_sources" value="point_cloud_sensorA point_cloud_sensorB"/>
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_legacy)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
<param name="global_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
<param name="local_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
</node>
@@ -124,7 +124,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_legacy/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="5"/>
<param name="decimation" type="int" value="2"/>
@@ -138,7 +138,7 @@
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_util/point_cloud_xyz camera_nodelet_manager">
<remap from="depth/image" to="data_resized_image_depth"/>
<remap from="depth/camera_info" to="data_resized_camera_info"/>
<remap from="cloud" to="cloudXYZ" />
@@ -147,7 +147,7 @@
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_util/obstacles_detection camera_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
rtabmap_legacy/launch/azimut3/az3_openni.launch
+2 -2
View File
@@ -7,9 +7,9 @@
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
value="file://$(find rtabmap_legacy)/launch/azimut3/config/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find rtabmap_ros)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
value="file://$(find rtabmap_legacy)/launch/azimut3/config/depth_PS1080_PrimeSense.yaml" />
</include>
<!-- Xtion frame -->
rtabmap_legacy/launch/azimut3/az3_remote_find_object.launch
+2 -2
View File
@@ -2,9 +2,9 @@
<launch>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="$(find rtabmap_ros)/launch/azimut3/config/azimut3_find_object.ini" type="str"/>
<param name="settings_path" value="$(find rtabmap_legacy)/launch/azimut3/config/azimut3_find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
<param name="objects_path" value="$(find rtabmap_demos)/launch/data/books" type="str"/>
<remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
<remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
rtabmap_legacy/launch/azimut3/az3_remote_mapping_robot.launch
+2 -2
View File
@@ -7,11 +7,11 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_legacy)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_legacy/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
rtabmap_legacy/launch/azimut3/az3_remote_mapping_rviz.launch
+4 -4
View File
@@ -16,7 +16,7 @@
<!-- SLAM client side -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -50,14 +50,14 @@
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
<node pkg="rtabmap_legacy" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_legacy)/launch/azimut3/config/azimut3.rviz"/>
<!-- Below, construct point cloud of the latest throttled data -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_util/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
rtabmap_legacy/launch/azimut3/config/azimut3.rviz
+3 -3
View File
@@ -272,7 +272,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
class: rtabmap_ros/MapCloud
class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 4
Cloud max depth (m): 3
Cloud voxel size (m): 0.02
@@ -298,7 +298,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- class: rtabmap_ros/Info
- class: rtabmap_rviz_plugins/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
@@ -330,7 +330,7 @@ Visualization Manager:
Value: true
Views:
Current:
class: rtabmap_ros/OrbitOriented
class: rtabmap_rviz_plugins/OrbitOriented
Distance: 7.83194
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
rtabmap_legacy/launch/azimut3/config/azimut3_nav.rviz
+3 -3
View File
@@ -264,7 +264,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap_ros/MapCloud
Class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 1
Cloud max depth (m): 4
Cloud voxel size (m): 0
@@ -290,7 +290,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rtabmap_ros/Info
- Class: rtabmap_rviz_plugins/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
@@ -353,7 +353,7 @@ Visualization Manager:
Use rainbow: true
Value: true
- Alpha: 1
Class: rtabmap_ros/MapGraph
Class: rtabmap_rviz_plugins/MapGraph
Enabled: true
Global loop closure: 255; 0; 0
Local loop closure: 255; 255; 0
rtabmap_legacy/launch/azimut3/config/azimut3_stereo_nav.rviz
+4 -4
View File
@@ -288,7 +288,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
class: rtabmap_ros/MapCloud
class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 8
Cloud max depth (m): 4
Cloud voxel size (m): 0
@@ -314,7 +314,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- class: rtabmap_ros/Info
- class: rtabmap_rviz_plugins/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
@@ -350,7 +350,7 @@ Visualization Manager:
Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
Value: true
- Alpha: 1
class: rtabmap_ros/MapGraph
class: rtabmap_rviz_plugins/MapGraph
Color: 0; 0; 255
Enabled: true
Name: MapGraph
@@ -404,7 +404,7 @@ Visualization Manager:
Value: true
Views:
Current:
class: rtabmap_ros/OrbitOriented
class: rtabmap_rviz_plugins/OrbitOriented
Distance: 6.3581
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
rtabmap_legacy/launch/calibration/depth_PS1080_PrimeSense.yaml → rtabmap_legacy/launch/azimut3/config/depth_PS1080_PrimeSense.yaml
View File
rtabmap_legacy/launch/azimut3/config/global_costmap_params.yaml
+1 -1
View File
@@ -5,7 +5,7 @@ update_frequency: 1
publish_frequency: 1
always_send_full_costmap: false
plugins:
- {name: static_layer, type: "rtabmap_ros::StaticLayer"}
- {name: static_layer, type: "rtabmap_costmap_plugins::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
rtabmap_legacy/launch/calibration/rgb_PS1080_PrimeSense.yaml → rtabmap_legacy/launch/azimut3/config/rgb_PS1080_PrimeSense.yaml
View File
rtabmap_legacy/launch/calibration/00b09d010081e00e_left.yaml
-20
View File
@@ -1,20 +0,0 @@
image_width: 640
image_height: 480
camera_name: 00b09d010081e00e_left
camera_matrix:
rows: 3
cols: 3
data: [520.84106910681, 0, 320.207922533597, 0, 520.652683004955, 251.69140630101, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.344858300062205, 0.131731614744127, -0.00032220157418798, -0.000178643627395838, 0]
rectification_matrix:
rows: 3
cols: 3
data: [0.999977409119708, -0.00542294021453702, -0.00397151981806852, 0.00542696944573559, 0.999984769417176, 0.00100445821860056, 0.00396601221263954, -0.00102598884371095, 0.999991609011807]
projection_matrix:
rows: 3
cols: 4
data: [487.608731712861, 0, 318.1162109375, 0, 0, 487.608731712861, 249.44425201416, 0, 0, 0, 1, 0]
rtabmap_legacy/launch/calibration/00b09d010081e00e_right.yaml
-20
View File
@@ -1,20 +0,0 @@
image_width: 640
image_height: 480
camera_name: 00b09d010081e00e_right
camera_matrix:
rows: 3
cols: 3
data: [525.042672813, 0, 315.778978739153, 0, 524.605377865008, 246.116481979902, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.350198880846778, 0.143262162037345, -0.000540958577710845, -0.000386869942974346, 0]
rectification_matrix:
rows: 3
cols: 3
data: [0.999991166299663, -0.00384047779504094, 0.00170823094047773, 0.00384221006573169, 0.999992106658553, -0.00101194980141688, -0.0017043310860856, 0.0010185042442697, 0.999998028950384]
projection_matrix:
rows: 3
cols: 4
data: [487.608731712861, 0, 318.1162109375, -58.3626989865376, 0, 487.608731712861, 249.44425201416, 0, 0, 0, 1, 0]
rtabmap_legacy/launch/calibration/distortion_model_PS1080.bin
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rtabmap_legacy/launch/calibration/distortion_model_PS1080.png
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rtabmap_legacy/launch/calibration/euroc_left.yaml
-30
View File
@@ -1,30 +0,0 @@
#%YAML:1.0
---
camera_name: MH_01_easy_left
image_width: 752
image_height: 480
camera_matrix:
rows: 3
cols: 3
data: [ 4.5865400000000000e+02, 0., 3.6721499999999997e+02, 0.,
4.5729599999999999e+02, 2.4837500000000000e+02, 0., 0., 1. ]
distortion_coefficients:
rows: 1
cols: 4
data: [ -2.8340810999999999e-01, 7.3959070000000002e-02,
1.9358999999999999e-04, 1.7618711400000001e-05 ]
distortion_model: plumb_bob
rectification_matrix:
rows: 3
cols: 3
data: [ 9.9996634750298619e-01, -1.4227432298321767e-03,
8.0795831104762770e-03, 1.3657459036274155e-03,
9.9997417608074302e-01, 7.0556296505566432e-03,
-8.0894128132919258e-03, -7.0443575534647465e-03,
9.9994246755850658e-01 ]
projection_matrix:
rows: 3
cols: 4
data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, 0., 0.,
4.3520469597145990e+02, 2.5220085144042969e+02, 0., 0., 0., 1.,
0. ]
rtabmap_legacy/launch/calibration/euroc_right.yaml
-30
View File
@@ -1,30 +0,0 @@
#%YAML:1.0
---
camera_name: MH_01_easy_right
image_width: 752
image_height: 480
camera_matrix:
rows: 3
cols: 3
data: [ 4.5758699999999999e+02, 0., 3.7999900000000002e+02, 0.,
4.5613400000000001e+02, 2.5523800000000000e+02, 0., 0., 1. ]
distortion_coefficients:
rows: 1
cols: 4
data: [ -2.8368365000000001e-01, 7.4512839999999997e-02,
-1.0473000000000000e-04, -3.5559070000000001e-05 ]
distortion_model: plumb_bob
rectification_matrix:
rows: 3
cols: 3
data: [ 9.9996335257946345e-01, -3.6258159819210472e-03,
7.7554468926514068e-03, 3.6804026836554193e-03,
9.9996847525904631e-01, -7.0358456623254633e-03,
-7.7296917225483383e-03, 7.0641309842873097e-03,
9.9994517345668066e-01 ]
projection_matrix:
rows: 3
cols: 4
data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02,
-4.7906395664848930e+01, 0., 4.3520469597145990e+02,
2.5220085144042969e+02, 0., 0., 0., 1., 0. ]
rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_color.yaml
-21
View File
@@ -1,21 +0,0 @@
%YAML:1.0
cameraMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1035.409658, 0., 953.629091, 0., 1036.265896, 550.972045, 0., 0., 1. ]
distortionCoefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 0.046857, -0.054802, 0.002446, -0.001013, 0. ]
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1034.458862, 0., 949.608678, 0., 0., 1046.304565, 553.032416, 0., 0., 0., 1., 0., 0., 0., 0., 1. ]
rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_ir.yaml
-26
View File
@@ -1,26 +0,0 @@
%YAML:1.0
cameraMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 3.6979200177991152e+02, 0., 2.5040545556144602e+02, 0.,
3.6934874236487565e+02, 2.0812949708935565e+02, 0., 0., 1. ]
distortionCoefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 1.0599430434497996e-01, -2.7091691685678082e-01,
4.8231954365675019e-04, -3.1761820716379199e-05,
7.7492684133604814e-02 ]
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 3.6979200177991152e+02, 0., 2.5040545556144602e+02, 0., 0.,
3.6934874236487565e+02, 2.0812949708935565e+02, 0., 0., 0., 1.,
0., 0., 0., 0., 1. ]
rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_pose.yaml
-33
View File
@@ -1,33 +0,0 @@
%YAML:1.0
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 9.9998557008106792e-01, 1.2305561691822327e-03,
-5.2292792195576393e-03, -1.3388135514396061e-03,
9.9978381286062756e-01, -2.0749340233854399e-02,
5.2026154880109553e-03, 2.0756041852440336e-02,
9.9977103354653341e-01 ]
translation: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ -5.1351463516082281e-02, 2.3299760970435590e-03,
-1.6640325723173980e-02 ]
essential: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ -1.0156323849380249e-05, 1.6685089380143084e-02,
1.9841668306476608e-03, -1.6372923685201993e-02,
1.0453762704480134e-03, 5.1426722663111546e-02,
-2.2611924404357772e-03, -5.1343229156542415e-02,
1.0776930835878881e-03 ]
fundamental: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ -4.8742459614193642e-09, 8.0171558549327292e-06,
-1.3152531820940182e-03, -7.8512380180953911e-06,
5.0188640603529770e-07, 1.0980767538413172e-02,
3.2068378477732255e-03, -3.3465816946061419e-02, 1. ]
rtabmap_legacy/launch/calibration/kinect2/README.txt
-12
View File
@@ -1,12 +0,0 @@
Kinect v2 calibration:
Copy "506816242542" folder in "~/catkin_ws/src/iai_kinect2/kinect2_bridge/data"
The number is the Kinect serial shown when launching kinect2_brige:
...
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 12 usb devices connected
[Freenect2Impl] found valid Kinect v2 @4:3 with serial 506816242542
[Freenect2Impl] found 1 devices
Kinect2 devices found:
0: 506816242542 (selected)
...
rtabmap_legacy/launch/config/rgbd_gui.ini
-363
View File
@@ -1,363 +0,0 @@
[Gui]
AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\x1b\0\0\x2\xf7\0\0\x2\xfc\0\0\0\0\0\0\0\x1b\0\0\x2\xf7\0\0\x2\xfc\0\0\0\0\0\0\0\0\a\x80)
DepthCalibrationDialog\bin_depth=2
DepthCalibrationDialog\bin_height=6
DepthCalibrationDialog\bin_width=8
DepthCalibrationDialog\cone_radius=0.02
DepthCalibrationDialog\cone_stddev_thresh=0.1
DepthCalibrationDialog\decimation=1
DepthCalibrationDialog\laser_scan=false
DepthCalibrationDialog\max_depth=3.5
DepthCalibrationDialog\max_model_depth=10
DepthCalibrationDialog\min_depth=0
DepthCalibrationDialog\smoothing=1
DepthCalibrationDialog\voxel=0.01
ExportBundlerDialog\exportPoints=false
ExportBundlerDialog\laplacianThr=0
ExportBundlerDialog\maxAngularSpeed=0
ExportBundlerDialog\maxLinearSpeed=0
ExportBundlerDialog\sba_iterations=20
ExportBundlerDialog\sba_rematch_features=true
ExportBundlerDialog\sba_type=0
ExportBundlerDialog\sba_variance=1
ExportCloudsDialog\assemble=true
ExportCloudsDialog\assemble_voxel=0.005
ExportCloudsDialog\bilateral=false
ExportCloudsDialog\bilateral_sigma_r=0.1
ExportCloudsDialog\bilateral_sigma_s=10
ExportCloudsDialog\binary=true
ExportCloudsDialog\cputsdf_flattenRadius=0.005
ExportCloudsDialog\cputsdf_minWeight=0
ExportCloudsDialog\cputsdf_randomSplit=1
ExportCloudsDialog\cputsdf_resolution=0.01
ExportCloudsDialog\cputsdf_size=12
ExportCloudsDialog\cputsdf_truncNeg=0.03
ExportCloudsDialog\cputsdf_truncPos=0.03
ExportCloudsDialog\filtering=false
ExportCloudsDialog\filtering_min_neighbors=2
ExportCloudsDialog\filtering_radius=0.02
ExportCloudsDialog\frame=0
ExportCloudsDialog\from_depth=true
ExportCloudsDialog\gain=false
ExportCloudsDialog\gain_beta=10
ExportCloudsDialog\gain_full=false
ExportCloudsDialog\gain_overlap=0
ExportCloudsDialog\gain_radius=0.02
ExportCloudsDialog\gain_rgb=true
ExportCloudsDialog\mesh=false
ExportCloudsDialog\mesh_angle_tolerance=15
ExportCloudsDialog\mesh_clean=true
ExportCloudsDialog\mesh_color_radius=0.03
ExportCloudsDialog\mesh_decimation_factor=0
ExportCloudsDialog\mesh_dense_strategy=1
ExportCloudsDialog\mesh_k=20
ExportCloudsDialog\mesh_max_polygons=0
ExportCloudsDialog\mesh_min_cluster_size=0
ExportCloudsDialog\mesh_mu=2.5
ExportCloudsDialog\mesh_quad=false
ExportCloudsDialog\mesh_radius=0.04
ExportCloudsDialog\mesh_texture=false
ExportCloudsDialog\mesh_textureBlending=true
ExportCloudsDialog\mesh_textureBlendingDecimation=0
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=0
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0
ExportCloudsDialog\mesh_textureCameraFiltering=false
ExportCloudsDialog\mesh_textureCameraFilteringAngle=30
ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0
ExportCloudsDialog\mesh_textureCameraFilteringRadius=0
ExportCloudsDialog\mesh_textureCameraFilteringVel=0
ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0
ExportCloudsDialog\mesh_textureExposureFusion=false
ExportCloudsDialog\mesh_textureFormat=0
ExportCloudsDialog\mesh_textureMaxAngle=0
ExportCloudsDialog\mesh_textureMaxCount=1
ExportCloudsDialog\mesh_textureMaxDepthError=0
ExportCloudsDialog\mesh_textureMaxDistance=3
ExportCloudsDialog\mesh_textureMinCluster=50
ExportCloudsDialog\mesh_textureMultiband=false
ExportCloudsDialog\mesh_textureRoiRatios=0.0 0.0 0.0 0.0
ExportCloudsDialog\mesh_textureSize=5
ExportCloudsDialog\mesh_triangle_size=2
ExportCloudsDialog\mls=false
ExportCloudsDialog\mls_dilation_iterations=0
ExportCloudsDialog\mls_dilation_voxel_size=0.01
ExportCloudsDialog\mls_output_voxel_size=0
ExportCloudsDialog\mls_point_density=0
ExportCloudsDialog\mls_polygonial_order=2
ExportCloudsDialog\mls_radius=0.04
ExportCloudsDialog\mls_upsampling_method=0
ExportCloudsDialog\mls_upsampling_radius=0.01
ExportCloudsDialog\mls_upsampling_step=0
ExportCloudsDialog\normals_k=10
ExportCloudsDialog\normals_radius=0
ExportCloudsDialog\openchisel_carving_dist_m=0.05
ExportCloudsDialog\openchisel_chunk_size_x=16
ExportCloudsDialog\openchisel_chunk_size_y=16
ExportCloudsDialog\openchisel_chunk_size_z=16
ExportCloudsDialog\openchisel_far_plane_dist=1.1
ExportCloudsDialog\openchisel_integration_weight=1
ExportCloudsDialog\openchisel_merge_vertices=true
ExportCloudsDialog\openchisel_near_plane_dist=0.05
ExportCloudsDialog\openchisel_truncation_constant=0.001504
ExportCloudsDialog\openchisel_truncation_linear=0.00152
ExportCloudsDialog\openchisel_truncation_quadratic=0.0019
ExportCloudsDialog\openchisel_truncation_scale=10
ExportCloudsDialog\openchisel_use_voxel_carving=false
ExportCloudsDialog\pipeline=0
ExportCloudsDialog\poisson_depth=0
ExportCloudsDialog\poisson_iso=8
ExportCloudsDialog\poisson_manifold=true
ExportCloudsDialog\poisson_minDepth=5
ExportCloudsDialog\poisson_outputPolygons=false
ExportCloudsDialog\poisson_pointWeight=4
ExportCloudsDialog\poisson_samples=1
ExportCloudsDialog\poisson_scale=1.1
ExportCloudsDialog\poisson_solver=8
ExportCloudsDialog\regenerate=true
ExportCloudsDialog\regenerate_decimation=1
ExportCloudsDialog\regenerate_distortion_model=
ExportCloudsDialog\regenerate_fill_error=2
ExportCloudsDialog\regenerate_fill_size=0
ExportCloudsDialog\regenerate_max_depth=4
ExportCloudsDialog\regenerate_min_depth=0
ExportCloudsDialog\regenerate_roi=0.0 0.0 0.0 0.0
ExportCloudsDialog\regenerate_scan_decimation=1
ExportCloudsDialog\regenerate_scan_max_range=0
ExportCloudsDialog\regenerate_scan_min_range=0
ExportCloudsDialog\regenerate_voxel=0.005
ExportCloudsDialog\subtract=false
ExportCloudsDialog\subtract_min_neighbors=5
ExportCloudsDialog\subtract_point_angle=0
ExportCloudsDialog\subtract_point_radius=0.02
ExportScansDialog\assemble=true
ExportScansDialog\assemble_voxel=0.01
ExportScansDialog\binary=true
ExportScansDialog\filtering=false
ExportScansDialog\filtering_min_neighbors=2
ExportScansDialog\filtering_radius=0.02
ExportScansDialog\normals_k=20
ExportScansDialog\regenerate=false
ExportScansDialog\regenerate_decimation=1
Figures\counts=
Figures\curves=
General\beep=false
General\cloudCeilingHeight=0
General\cloudFiltering=false
General\cloudFilteringAngle=20
General\cloudFilteringRadius=0.2
General\cloudFloorHeight=0
General\cloudNoiseMinNeighbors=5
General\cloudNoiseRadius=0
General\cloudVoxel=0
General\cloudsKept=true
General\colorScheme0=0
General\colorScheme1=0
General\colorSchemeScan0=0
General\colorSchemeScan1=0
General\decimation0=4
General\decimation1=4
General\downsamplingScan0=1
General\downsamplingScan1=1
General\figure_cache=true
General\figure_time=true
General\gravityLength0=1
General\gravityLength1=1
General\gravityShown0=false
General\gravityShown1=false
General\gridMapOpacity=0.75
General\gridMapShown=false
General\gtAlign=true
General\imageHighestHypShown=false
General\imageRejectedShown=true
General\imagesKept=true
General\landmarkSize=0
General\localizationsGraphView=false
General\loggerEventLevel=3
General\loggerLevel=2
General\loggerPauseLevel=3
General\loggerPrintThreadId=false
General\loggerPrintTime=true
General\loggerType=1
General\maxDepth0=4
General\maxDepth1=0
General\maxRange0=0
General\maxRange1=0
General\meshing=false
General\meshing_angle=15
General\meshing_quad=false
General\meshing_texture=false
General\meshing_triangle_size=2
General\minDepth0=0
General\minDepth1=0
General\minRange0=0
General\minRange1=0
General\noFiltering=true
General\nochangeGraphView=false
General\normalKSearch=10
General\normalRadiusSearch=0
General\notifyNewGlobalPath=false
General\octomap=false
General\octomap_2dgrid=true
General\octomap_3dmap=true
General\octomap_depth=16
General\octomap_point_size=5
General\octomap_rendering_type=0
General\odomDisabled=false
General\odomOnlyInliersShown=false
General\odomQualityThr=50
General\odomRegistration=3
General\opacity0=1
General\opacity1=1
General\opacityScan0=1
General\opacityScan1=1
General\posteriorGraphView=true
General\ptSize0=1
General\ptSize1=2
General\ptSizeFeatures0=3
General\ptSizeFeatures1=3
General\ptSizeScan0=1
General\ptSizeScan1=1
General\roiRatios0=0.0 0.0 0.0 0.0
General\roiRatios1=0.0 0.0 0.0 0.0
General\scanCeilingHeight=0
General\scanFloorHeight=0
General\scanNormalKSearch=0
General\scanNormalRadiusSearch=0
General\showClouds0=true
General\showClouds1=true
General\showFeatures0=false
General\showFeatures1=true
General\showFrames=false
General\showFrustums0=false
General\showFrustums1=false
General\showGraphs=true
General\showIMUAcc=false
General\showIMUGravity=false
General\showLabels=false
General\showLandmarks=true
General\showScans0=true
General\showScans1=true
General\subtractFiltering=false
General\subtractFilteringAngle=0
General\subtractFilteringMinPts=5
General\subtractFilteringRadius=0.02
General\verticalLayoutUsed=true
General\voxelSizeScan0=0
General\voxelSizeScan1=0
General\wordsGraphView=false
MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\x43\0\0\0\x1b\0\0\x5\xa5\0\0\x3\xf\0\0\0\x43\0\0\0\x39\0\0\x5\xa5\0\0\x3\xf\0\0\0\0\0\0\0\0\a\x80)
MainWindow\maximized=false
MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1N\0\0\x2\x9a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0=\0\0\x2\x9a\0\0\x2)\0\xff\xff\xff\0\0\0\x1\0\0\x4\xf\0\0\x2\x9a\xfc\x2\0\0\0\x2\xfc\0\0\0=\0\0\x2\x9a\0\0\0\xdb\0\xff\xff\xff\xfc\x1\0\0\0\x3\xfc\0\0\x1T\0\0\x1\x6\0\0\0h\0\xff\xff\xff\xfc\x2\0\0\0\x2\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\0\0\0\0(\0\0\x1%\0\0\0\x13\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0=\0\0\x2\x9a\0\0\0\x37\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x2`\0\0\x1\xde\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x4\x44\0\0\x1\x1f\0\0\0\x46\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf2\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9a\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\0\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\0\0\x5\0\0\0\x1\x33\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0i\0\xff\xff\xff\0\0\0\0\0\0\x2\x9a\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
MainWindow\status_bar=false
PostProcessingDialog\cluster_angle=30
PostProcessingDialog\cluster_radius=0.3
PostProcessingDialog\detect_more_lc=true
PostProcessingDialog\inter_session=true
PostProcessingDialog\intra_session=true
PostProcessingDialog\iterations=1
PostProcessingDialog\reextract_features=false
PostProcessingDialog\refine_lc=false
PostProcessingDialog\refine_neigbors=false
PostProcessingDialog\sba=false
PostProcessingDialog\sba_epsilon=0
PostProcessingDialog\sba_iterations=20
PostProcessingDialog\sba_rematch_features=true
PostProcessingDialog\sba_type=1
PostProcessingDialog\sba_variance=1
PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\x1\f\0\0\0\x1b\0\0\x4\xdb\0\0\x3\x9a\0\0\x1\f\0\0\0\x1b\0\0\x4\xdb\0\0\x3\x9a\0\0\0\0\0\0\0\0\a\x80)
graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
graphicsView_graphView\global_path_visible=true
graphicsView_graphView\gps_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\x80\x80\0\0)
graphicsView_graphView\gps_graph_visible=true
graphicsView_graphView\graph_visible=true
graphicsView_graphView\grid_visible=true
graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
graphicsView_graphView\gt_graph_visible=true
graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
graphicsView_graphView\intra_inter_session_colors_enabled=false
graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
graphicsView_graphView\link_width=0
graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
graphicsView_graphView\local_path_visible=true
graphicsView_graphView\local_radius_visible=false
graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
graphicsView_graphView\node_radius=0.009999999776482582
graphicsView_graphView\orientation_ENU=false
graphicsView_graphView\origin_visible=true
graphicsView_graphView\referential_visible=true
graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
imageView_loopClosure\alpha=150
imageView_loopClosure\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
imageView_loopClosure\colormap=0
imageView_loopClosure\depth_shown=false
imageView_loopClosure\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
imageView_loopClosure\features_shown=true
imageView_loopClosure\features_size=0
imageView_loopClosure\graphics_view=false
imageView_loopClosure\graphics_view_scale=true
imageView_loopClosure\graphics_view_scale_to_height=false
imageView_loopClosure\image_shown=true
imageView_loopClosure\lines_shown=true
imageView_loopClosure\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
imageView_loopClosure\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
imageView_odometry\alpha=200
imageView_odometry\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
imageView_odometry\colormap=0
imageView_odometry\depth_shown=false
imageView_odometry\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
imageView_odometry\features_shown=true
imageView_odometry\features_size=0
imageView_odometry\graphics_view=false
imageView_odometry\graphics_view_scale=true
imageView_odometry\graphics_view_scale_to_height=false
imageView_odometry\image_shown=true
imageView_odometry\lines_shown=true
imageView_odometry\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
imageView_odometry\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
imageView_source\alpha=150
imageView_source\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
imageView_source\colormap=0
imageView_source\depth_shown=false
imageView_source\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
imageView_source\features_shown=true
imageView_source\features_size=0
imageView_source\graphics_view=false
imageView_source\graphics_view_scale=true
imageView_source\graphics_view_scale_to_height=false
imageView_source\image_shown=true
imageView_source\lines_shown=true
imageView_source\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
imageView_source\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
widget_cloudViewer\camera_axis_shown=true
widget_cloudViewer\camera_focal="@Variant(\0\0\0T?>\"\xb0=!\xa5\0?>!\xe6)"
widget_cloudViewer\camera_free=false
widget_cloudViewer\camera_lockZ=true
widget_cloudViewer\camera_ortho=false
widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xc0G\xad|>\r\xa4\x10@h\xe3\x46)
widget_cloudViewer\camera_target_follow=true
widget_cloudViewer\camera_target_locked=false
widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0)
widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0)
widget_cloudViewer\frustum_shown=true
widget_cloudViewer\grid=false
widget_cloudViewer\grid_cell_count=50
widget_cloudViewer\grid_cell_size=1
widget_cloudViewer\intensity_max=0
widget_cloudViewer\intensity_red_colormap=false
widget_cloudViewer\normals=false
widget_cloudViewer\normals_scale=0.20000000298023224
widget_cloudViewer\normals_step=1
widget_cloudViewer\rendering_rate=5
widget_cloudViewer\trajectory_shown=true
widget_cloudViewer\trajectory_size=100
rtabmap_legacy/launch/jfr2018/launch_lidar
+1 -1
View File
@@ -1,5 +1,5 @@
// icp_odometry with guess from odom_combined frame
$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Reg/Force3DoF true --Reg/Strategy 1 --RGBD/ProximityPathMaxNeighbors 10 --RGBD/ProximityPathFilteringRadius 1 --RGBD/ProximityByTime false --Mem/STMSize 30 --Mem/LaserScanVoxelSize 0.05 --Icp/VoxelSize 0.0 --Mem/LaserScanNormalK 5 --Mem/LaserScanNormalRadius 1 --Icp/Epsilon 0.001 --Icp/MaxTranslation 0.5 --RGBD/OptimizeMaxError 1 --Icp/PointToPlane true --Icp/CorrespondenceRatio 0.10 --Icp/PMOutlierRatio 0.95 --Mem/BinDataKept true --Grid/RangeMax 0 --Kp/DetectorStrategy 0 --Kp/MaxFeatures 200 --SURF/HessianThreshold 100 --Vis/MaxFeatures 500 --Mem/UseOdomFeatures false" odom_args:="--Icp/VoxelSize 0.05 --Icp/PointToPlaneRadius 1 --Odom/GuessMotion true --Odom/Strategy 0" rgbd_sync:=true subscribe_scan:=true frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true visual_odometry:=false odom_guess_frame_id:=odom_combined odom_guess_min_translation:=0.1 odom_guess_min_rotation:=0.1 odom_topic:=odom icp_odometry:=true database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db
$ roslaunch rtabmap_launch rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Reg/Force3DoF true --Reg/Strategy 1 --RGBD/ProximityPathMaxNeighbors 10 --RGBD/ProximityPathFilteringRadius 1 --RGBD/ProximityByTime false --Mem/STMSize 30 --Mem/LaserScanVoxelSize 0.05 --Icp/VoxelSize 0.0 --Mem/LaserScanNormalK 5 --Mem/LaserScanNormalRadius 1 --Icp/Epsilon 0.001 --Icp/MaxTranslation 0.5 --RGBD/OptimizeMaxError 1 --Icp/PointToPlane true --Icp/CorrespondenceRatio 0.10 --Icp/PMOutlierRatio 0.95 --Mem/BinDataKept true --Grid/RangeMax 0 --Kp/DetectorStrategy 0 --Kp/MaxFeatures 200 --SURF/HessianThreshold 100 --Vis/MaxFeatures 500 --Mem/UseOdomFeatures false" odom_args:="--Icp/VoxelSize 0.05 --Icp/PointToPlaneRadius 1 --Odom/GuessMotion true --Odom/Strategy 0" rgbd_sync:=true subscribe_scan:=true frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true visual_odometry:=false odom_guess_frame_id:=odom_combined odom_guess_min_translation:=0.1 odom_guess_min_rotation:=0.1 odom_topic:=odom icp_odometry:=true database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db
// proximity space short range
scan_topic:=/base_scan_t_filtered
// proximity space longer range
rtabmap_legacy/launch/jfr2018/launch_rgbd
+1 -1
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@@ -1,5 +1,5 @@
// rgbd_odometry
$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Rtabmap/StartNewMapOnLoopClosure true --Reg/Force3DoF false --RGBD/ProximityPathMaxNeighbors 0 --Mem/STMSize 15 --Mem/BinDataKept false --Kp/FlannRebalancingFactor 1.0 --RGBD/LinearUpdate 0 --RGBD/ProximityBySpace true --RGBD/OptimizeMaxError 0.5 --FAST/Threshold 7" odom_args:="--Odom/Strategy 0 --Vis/CorType 0 --Odom/KeyFrameThr 0.3 --OdomF2M/MaxSize 2000 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15" rgbd_sync:=true depth_scale:=1.043 frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true odom_topic:=odom rgb_topic:=/camera/rgb/image_raw_throttle depth_topic:=/camera/depth/image_raw_throttle camera_info_topic:=/camera/rgb/camera_info_throttle approx_sync:=false database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db odom_guess_frame_id:=odom_combined
$ roslaunch rtabmap_launch rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Rtabmap/StartNewMapOnLoopClosure true --Reg/Force3DoF false --RGBD/ProximityPathMaxNeighbors 0 --Mem/STMSize 15 --Mem/BinDataKept false --Kp/FlannRebalancingFactor 1.0 --RGBD/LinearUpdate 0 --RGBD/ProximityBySpace true --RGBD/OptimizeMaxError 0.5 --FAST/Threshold 7" odom_args:="--Odom/Strategy 0 --Vis/CorType 0 --Odom/KeyFrameThr 0.3 --OdomF2M/MaxSize 2000 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15" rgbd_sync:=true depth_scale:=1.043 frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true odom_topic:=odom rgb_topic:=/camera/rgb/image_raw_throttle depth_topic:=/camera/depth/image_raw_throttle camera_info_topic:=/camera/rgb/camera_info_throttle approx_sync:=false database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db odom_guess_frame_id:=odom_combined
// use wheel odom
odom_frame_id:=odom_combined odom_tf_angular_variance:=0.0001 odom_tf_linear_variance:=0.0001 visual_odometry:=false
// flow
rtabmap_legacy/launch/jfr2018/launch_stereo
+1 -1
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@@ -1,5 +1,5 @@
// stereo_odometry
$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Rtabmap/StartNewMapOnLoopClosure true --Reg/Force3DoF false --RGBD/ProximityPathMaxNeighbors 0 --Mem/STMSize 15 --Mem/BinDataKept false --Kp/FlannRebalancingFactor 1.0 --RGBD/LinearUpdate 0 --RGBD/ProximityBySpace true --Odom/KeyFrameThr 0.3 --Odom/Strategy 0 --OdomF2M/MaxSize 2000 --RGBD/OptimizeMaxError 0.5 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15 --FAST/Threshold 7" odom_args:="--Vis/CorType 0" frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true stereo:=true stereo_namespace:=/wide_stereo left_camera_info_topic:=/wide_stereo/left/camera_info_throttle right_camera_info_topic:=/wide_stereo/right/camera_info_scaled odom_topic:=odom approx_sync:=false database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db odom_guess_frame_id:=odom_combined
$ roslaunch rtabmap_launch rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Rtabmap/StartNewMapOnLoopClosure true --Reg/Force3DoF false --RGBD/ProximityPathMaxNeighbors 0 --Mem/STMSize 15 --Mem/BinDataKept false --Kp/FlannRebalancingFactor 1.0 --RGBD/LinearUpdate 0 --RGBD/ProximityBySpace true --Odom/KeyFrameThr 0.3 --Odom/Strategy 0 --OdomF2M/MaxSize 2000 --RGBD/OptimizeMaxError 0.5 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15 --FAST/Threshold 7" odom_args:="--Vis/CorType 0" frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true stereo:=true stereo_namespace:=/wide_stereo left_camera_info_topic:=/wide_stereo/left/camera_info_throttle right_camera_info_topic:=/wide_stereo/right/camera_info_scaled odom_topic:=odom approx_sync:=false database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db odom_guess_frame_id:=odom_combined
// with wheel odom
odom_frame_id:=odom_combined odom_tf_angular_variance:=0.0001 odom_tf_linear_variance:=0.0001 visual_odometry:=false
// flow
rtabmap_legacy/launch/rgbd_mapping.launch
+3 -3
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@@ -17,7 +17,7 @@
<!-- Corresponding config files -->
<arg name="rtabmapviz_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="rviz_cfg" default="$(find rtabmap_launch)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="database_path" default="~/.ros/rtabmap.db"/>
@@ -43,8 +43,8 @@
<arg name="namespace" default="rtabmap"/>
<arg name="wait_for_transform" default="0.2"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg name="rtabmap_viz" value="$(arg rtabmapviz)" />
<arg name="rviz" value="$(arg rviz)" />
<arg name="localization" value="$(arg localization)"/>
<arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" />
rtabmap_legacy/launch/rgbd_mapping_kinect2.launch
+6 -6
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@@ -7,7 +7,7 @@
Make sure it is calibrated!
Run:
$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
$ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch
$ roslaunch rtabmap_legacy rgbd_mapping_kinect2.launch
-->
<!-- Which image resolution to process in rtabmap: sd, qhd, hd -->
@@ -27,8 +27,8 @@
<arg name="rtabmapviz" default="true" />
<!-- Corresponding config files -->
<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="rtabmapviz_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_launch)/launch/config/rgbd.rviz" />
<!-- slightly increase default parameters for larger images (qhd=720p) -->
<arg name="gftt_block_size" default="5" />
@@ -37,7 +37,7 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_odom" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
@@ -51,7 +51,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
@@ -66,7 +66,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
<node if="$(arg rtabmapviz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="$(arg rtabmapviz_cfg)" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
rtabmap_legacy/launch/stereo_mapping.launch
+4 -4
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@@ -16,8 +16,8 @@
<arg name="localization" default="false"/>
<!-- Corresponding config files -->
<arg name="rtabmapviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="rtabmapviz_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_launch)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="database_path" default="~/.ros/rtabmap.db"/>
@@ -45,9 +45,9 @@
<arg name="namespace" default="rtabmap"/>
<arg name="wait_for_transform" default="0.2"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg name="stereo" value="true"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
<arg name="rtabmap_viz" value="$(arg rtabmapviz)" />
<arg name="rviz" value="$(arg rviz)" />
<arg name="localization" value="$(arg localization)"/>
<arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" />