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ros-pkg: updated azimut3 launch files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1448 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-02 19:19:13 +00:00
parent ee3afd5b6c
commit 3d0e0f2592
5 changed files with 342 additions and 62 deletions
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launch/azimut3/az3_mapping_client.launch
+7 -6
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@@ -2,20 +2,21 @@
<launch>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<group ns="rtabmap">
<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="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</node>
</group>
</launch>
launch/azimut3/az3_mapping_client_rviz.launch
+16 -12
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@@ -1,23 +1,27 @@
<launch>
<!-- Visualisation (client side) -->
<!-- Map assembler for rviz -->
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
<remap from="infoEx" to="rtabmap/infoEx"/>
<param name="cloud_decimation" type="int" value="4"/>
<param name="cloud_voxel_size" type="double" value="0.02"/>
<param name="scan_voxel_size" type="double" value="0.01"/>
</node>
<group ns="rtabmap">
<!-- Visualisation (client side) -->
<!-- Map assembler for rviz -->
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
<param name="cloud_decimation" type="int" value="4"/>
<param name="cloud_voxel_size" type="double" value="0.02"/>
<param name="scan_voxel_size" type="double" value="0.01"/>
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="data_throttled_image"/>
<remap from="depth/image_in" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_in" to="data_throttled_camera_info"/>
<remap from="rgb/image_in" to="/camera/data_throttled_image"/>
<remap from="depth/image_in" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info_in" to="/camera/data_throttled_camera_info"/>
<remap from="odom_in" to="/base_controller/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
launch/azimut3/az3_mapping_robot.launch
+35 -35
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@@ -7,52 +7,52 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="10.0"/>
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="10.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_out" to="data_throttled_image"/>
<remap from="depth/image_out" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
</node>
<remap from="rgb/image_out" to="data_throttled_image"/>
<remap from="depth/image_out" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
</node>
</group>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<param name="frame_id" type="string" value="base_footprint"/>
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="0"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
<param name="LccIcp/Type" type="string" value="2"/>
<param name="LccIcp2/Iterations" type="string" value="100"/>
<param name="LccIcp2/VoxelSize" type="string" value="0"/>
<param name="LccBow/MinInliers" type="string" value="5"/>
<param name="LccBow/MaxDepth" type="string" value="4.0"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<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"/>
</node>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="0"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
<param name="LccIcp/Type" type="string" value="2"/>
<param name="LccIcp2/Iterations" type="string" value="100"/>
<param name="LccIcp2/VoxelSize" type="string" value="0"/>
<param name="LccBow/MinInliers" type="string" value="5"/>
<param name="LccBow/MaxDepth" type="string" value="4.0"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<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"/>
</node>
</group>
</launch>
launch/azimut3/az3_record.launch
+11 -9
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@@ -6,16 +6,18 @@
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- Throttling messages -->
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="10.0"/>
<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="10.0"/>
<remap from="rgb/image_in" to="camera/rgb/image_color"/>
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
<remap from="rgb/image_in" to="rgb/image_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_out" to="data_throttled_image"/>
<remap from="depth/image_out" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
</node>
<remap from="rgb/image_out" to="/data_throttled_image"/>
<remap from="depth/image_out" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="/data_throttled_camera_info"/>
</node>
</group>
</launch>