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ros-pkg/visual_odometry: Publishing the local map and the last frame features as clouds (generated only if there is a subscriber). Simplified all test_odometry_###.launch files to a single one launch file with arguments

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1663 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-08-20 23:09:19 +00:00
parent 396f0d6648
commit 408f8f307f
8 changed files with 310 additions and 202 deletions
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launch/tests/test_odometry.launch
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<launch>
<!-- Arguments: "type", "nn" and "local_map" -->
<!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF -->
<arg name="type" default="0" />
<!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH -->
<!-- Should be 1 for float descriptor like SIFT/SURF -->
<!-- Should be 2 for binary descriptor like ORB/FREAK/BRIEF -->
<arg name="nn" default="1" />
<!-- local map size: number of unique features to keep track -->
<arg name="local_map" default="0" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="camera/rgb/image_rect_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="odom_in" to="odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
<param name="queue_size" type="int" value="30"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
<!-- Odometry -->
<node pkg="rtabmap" 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"/>
<remap from="odom" to="odom"/>
<param name="frame_id" type="string" value="base_link"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
<param name="Odom/Type" type="string" value="$(arg type)"/>
<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/test_odometry.rviz"/>
</launch>