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Added lidar_deskewing node and nodelet. Added "deskewing" option for icp_odometry. Updated velodyne and ouster examples with deskewing option. Added velodyne+T265 deskewing example.

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matlabbe
2022-10-16 21:36:11 -07:00
parent cf50e93195
commit 44bbaa2cef
15 changed files with 931 additions and 35 deletions
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launch/rtabmap.launch
+17 -4
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@@ -96,8 +96,10 @@
<arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="subscribe_scan_descriptor" default="false"/>
<arg name="scan_descriptor_topic" default="/scan_descriptor"/>
<arg name="scan_deskewing" default="false"/>
<arg name="scan_deskewing_slerp" default="false"/>
<arg name="scan_cloud_max_points" default="0"/>
<arg name="scan_cloud_filtered" default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
<arg name="scan_cloud_filtered" default="$(arg scan_deskewing)"/> <!-- use filtered cloud from icp_odometry for mapping -->
<arg name="gen_scan" default="false"/> <!-- only works with depth image and if not subscribing to scan topic-->
<arg name="gen_depth" default="false" /> <!-- Generate depth image from scan_cloud -->
@@ -312,6 +314,17 @@
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
<param name="expected_update_rate" type="double" value="$(arg odom_expected_rate)"/>
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
<param name="deskewing" type="bool" value="$(arg scan_deskewing)"/>
<param name="deskewing_slerp" type="bool" value="$(arg scan_deskewing_slerp)"/>
</node>
<node if="$(eval not icp_odometry and scan_deskewing and subscribe_scan_cloud)" pkg="rtabmap_ros" type="lidar_deskewing" name="lidar_deskewing" clear_params="$(arg clear_params)" output="$(arg output)">
<param name="wait_for_transform" value="$(arg wait_for_transform)"/>
<param if="$(arg visual_odometry)" name="fixed_frame_id" value="$(arg vo_frame_id)"/>
<param unless="$(arg visual_odometry)" name="fixed_frame_id" value="$(arg odom_frame_id)"/>
<param name="slerp" value="$(arg scan_deskewing_slerp)"/>
<remap from="input_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="$(arg scan_cloud_topic)/deskewed" to="odom_filtered_input_scan"/>
</node>
<node if="$(arg scan_cloud_assembling)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" clear_params="$(arg clear_params)" output="$(arg output)">
@@ -430,10 +443,10 @@
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap unless="$(arg icp_odometry)" from="scan" to="$(arg scan_topic)"/>
<remap if="$(arg icp_odometry)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg icp_odometry)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap if="$(eval icp_odometry or scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(eval icp_odometry or scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="scan_descriptor" to="$(arg scan_descriptor_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>