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Added imu input topic to rtabmap node. Updated for rtabmap 0.19.3.

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matlabbe
2019-05-31 19:35:49 -04:00
parent 2eb8ba1be1
commit 48bcda84ab
8 changed files with 223 additions and 339 deletions
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launch/rtabmap.launch
+6 -1
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@@ -94,7 +94,8 @@
<arg name="odom_guess_frame_id" default=""/>
<arg name="odom_guess_min_translation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="imu_topic" default="/imu"/> <!-- only used with VIO approaches -->
<arg name="imu_topic" default="/imu/data"/> <!-- only used with VIO approaches -->
<arg name="wait_imu_to_init" default="false"/>
<arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription -->
<arg name="user_data_topic" default="/user_data"/>
@@ -190,6 +191,7 @@
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
@@ -215,6 +217,7 @@
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
@@ -238,6 +241,7 @@
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
@@ -293,6 +297,7 @@
<remap from="gps/fix" to="$(arg gps_topic)"/>
<remap from="tag_detections" to="$(arg tag_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>