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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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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_robot_nav.launch
+11 -8
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@@ -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"/>