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Added "decimation" parameter to data_throttle and stereo_throttle nodelets. Added cloud processing parameters from point_cloud_xyz to point_cloud_xyzrgb nodelet. Added stereo inputs to point_cloud_xyzrgb.

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This commit is contained in:
Mathieu Labbe
2015-02-16 16:26:44 -05:00
parent 4ac2eb09b0
commit 4314246d1e
20 changed files with 491 additions and 158 deletions
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launch/azimut3/az3_bag_record.launch
+2 -2
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@@ -20,8 +20,8 @@
<!-- 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_ros/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"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
launch/azimut3/az3_db_record.launch
+2 -2
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@@ -11,8 +11,8 @@
<!-- 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_ros/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"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
launch/azimut3/az3_mapping_client_nav.launch
+28 -5
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@@ -4,21 +4,44 @@
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="sub_data" default="false"/>
<!-- use a relay on this machine -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay">
<param name="lazy" type="bool" value="true"/>
</node>
<node if="$(arg sub_data)" name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay">
<param name="lazy" type="bool" value="true"/>
</node>
<node if="$(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">
<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"/>
<remap from="cloud" to="/voxel_cloud" />
</node>
<group ns="rtabmap">
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="mapData" to="mapData_relay"/>
<param name="subscribe_depth" type="bool" value="$(arg sub_data)"/>
<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"/>
<param name="subscribe_laserScan" type="bool" value="$(arg sub_data)"/>
<remap from="scan" to="/base_scan_relay"/>
</node>
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
<!-- use a relay on this machine, same for images -->
<node if="$(arg rviz)" name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay">
<param name="lazy" type="bool" value="true"/>
</node>
</launch>
launch/azimut3/az3_mapping_client_nav.launch~
-23
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@@ -1,23 +0,0 @@
<launch>
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
<!-- a relay on this machine, same for images -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<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" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<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"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
</launch>
launch/azimut3/az3_mapping_robot.launch
+1 -1
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@@ -11,7 +11,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<param name="rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
launch/azimut3/az3_mapping_robot_kinect_odom.launch
+1 -1
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@@ -11,7 +11,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<param name="rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
launch/azimut3/az3_mapping_robot_kinect_scan.launch
+1 -1
View File
@@ -11,7 +11,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<param name="rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
launch/azimut3/az3_mapping_robot_nav.launch
+11 -8
View File
@@ -8,7 +8,9 @@
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch">
<arg name="data_skip" value="5" />
</include>
<!-- SLAM (robot side) -->
<group ns="rtabmap">
@@ -108,23 +110,24 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="4.0"/>
<param name="rate" type="double" value="0"/> <!-- set by data_skip above -->
<param name="decimation" type="int" value="4"/>
<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"/>
<remap from="rgb/image_out" to="data_resized_image"/>
<remap from="depth/image_out" to="data_resized_image_depth"/>
<remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="depth/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="depth/image" to="data_resized_image_depth"/>
<remap from="depth/camera_info" to="data_resized_camera_info"/>
<remap from="cloud" to="/local_costmap_cloud" />
<param name="decimation" type="int" value="4"/>
<param name="decimation" type="int" value="1"/>
<param name="max_depth" type="double" value="6.0"/>
<param name="noise_filter_radius" type="double" value="0.05"/>
<param name="noise_filter_min_neighbors" type="int" value="10"/>
launch/azimut3/az3_openni.launch
+3
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@@ -1,9 +1,12 @@
<launch>
<arg name="data_skip" default="0" />
<!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="data_skip" value="$(arg data_skip)" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
launch/azimut3/az3_remote_mapping_robot.launch
+1 -1
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@@ -11,7 +11,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<param name="rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
launch/azimut3/config/azimut3_nav.rviz
+42 -42
View File
@@ -7,7 +7,7 @@ Panels:
- /Global Options1
- /TF1/Frames1
Splitter Ratio: 0.601881
Tree Height: 371
Tree Height: 187
- Class: rviz/Selection
Name: Selection
- Class: rviz/Views
@@ -73,7 +73,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -86,10 +86,10 @@ Visualization Manager:
Size (Pixels): 5
Size (m): 0.01
Style: Points
Topic: /base_scan
Topic: /base_scan_relay
Use Fixed Frame: false
Use rainbow: true
Value: false
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
@@ -131,8 +131,8 @@ Visualization Manager:
Value: true
Visual Enabled: true
- Class: rviz/Image
Enabled: false
Image Topic: /camera/data_throttled_image
Enabled: true
Image Topic: /camera/data_resized_image_relay
Max Value: 1
Median window: 5
Min Value: 0
@@ -140,7 +140,7 @@ Visualization Manager:
Normalize Range: true
Queue Size: 2
Transport Hint: theora
Value: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -158,7 +158,7 @@ Visualization Manager:
Download graph: false
Download map: false
Enabled: true
Filter floor (m): 0.1
Filter floor (m): 0.07
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
@@ -180,26 +180,12 @@ Visualization Manager:
Name: Info
Topic: /rtabmap/info
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.1
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.3
Head Radius: 0.1
Name: Pose
Shaft Length: 1
Shaft Radius: 0.05
Shape: Arrow
Topic: /rtabmap/goal
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 149; 57
Enabled: true
Name: Path
Name: move_base global plan
Topic: /planner/move_base/NavfnROS/plan
Value: true
- Alpha: 1
@@ -207,7 +193,7 @@ Visualization Manager:
Class: rviz/Path
Color: 2; 14; 255
Enabled: true
Name: Path
Name: move_base local plan
Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
Value: true
- Alpha: 1
@@ -222,36 +208,36 @@ Visualization Manager:
Color: 85; 255; 0
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Name: Voxel_cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /rtabmap/cloud_map
Topic: /voxel_cloud
Use Fixed Frame: true
Use rainbow: true
Value: false
Value: true
- Alpha: 1
Class: rtabmap_ros/MapGraph
Color: 0; 0; 255
Enabled: false
Enabled: true
Name: MapGraph
Topic: /rtabmap/mapData_relay
Value: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 255
Enabled: true
Name: Path
Name: Rtabmap global path
Topic: /rtabmap/global_path
Value: true
- Alpha: 1
@@ -259,7 +245,7 @@ Visualization Manager:
Class: rviz/Path
Color: 85; 255; 255
Enabled: true
Name: Path
Name: Rtabmap local path
Topic: /rtabmap/local_path
Value: true
- Alpha: 1
@@ -270,12 +256,26 @@ Visualization Manager:
Enabled: true
Head Length: 0.3
Head Radius: 0.1
Name: Pose
Name: Current goal
Shaft Length: 1
Shaft Radius: 0.05
Shape: Arrow
Topic: /rtabmap/current_goal
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.1
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.3
Head Radius: 0.1
Name: Global goal
Shaft Length: 1
Shaft Radius: 0.05
Shape: Arrow
Topic: /rtabmap/goal
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -296,22 +296,22 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 17.1662
Distance: 13.3786
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.0852849
Y: 0.0904403
Z: -0.189729
X: -1.4347
Y: 1.38269
Z: -0.0856586
Name: Current View
Near Clip Distance: 0.01
Pitch: 1.2048
Pitch: 0.884797
Target Frame: base_footprint
Value: Orbit (rviz)
Yaw: 3.50041
Yaw: 3.81544
Saved: ~
Window Geometry:
Displays:
@@ -321,7 +321,7 @@ Window Geometry:
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001b4000000dd00fffffffb0000000a0049006d00610067006500000001290000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000001e2000001200000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000fc000000dd00fffffffb0000000a0049006d006100670065010000012a0000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000025d000000a50000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -331,5 +331,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1228
X: 372
Y: 32
X: 406
Y: 154