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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_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>