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ros-pkg: updated/deleted some stereo related launch files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2001 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-14 16:30:48 +00:00
parent 31ce543cff
commit 4bb9953160
7 changed files with 145 additions and 591 deletions
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launch/azimut3/az3_mapping_client_rviz_nav.launch
+1 -1
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@@ -3,7 +3,7 @@
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use --> <!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
<!-- a relay on this machine, same for images --> <!-- a relay on this machine, same for images -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/> <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="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_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 name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
launch/azimut3/az3_mapping_robot_stereo.launch
-121
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@@ -1,121 +0,0 @@
<launch>
<!-- "Disable" wheel odometry from azimut3 -->
<group ns="base_controller">
<param name="odom_frame_id" type="string" value="az3_odom"/>
<param name="base_frame_id" type="string" value="az3_base_link"/>
</group>
<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
<!-- AZIMUT 3 bringup: launch motors and TF -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- Stereo camera -->
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
<param name="video_mode" value="format7_mode3" />
<param name="format7_color_coding" value="raw16" />
<param name="bayer_pattern" value="bggr" />
<param name="bayer_method" value="" />
<param name="stereo_method" value="Interlaced" />
<param name="camera_info_url_left" value="" />
<param name="camera_info_url_right" value="" />
</node>
<!-- TF transforms for the stereo camera -->
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_base_link"
args="0.01 0.06 0.90 0 0.2 0 base_link stereo_camera_base 100" />
<!-- Run the ROS package stereo_image_proc for image rectification-->
<group ns="/stereo_camera" >
<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
Throttle camera images to 10 Hz () -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="rate" type="double" value="10"/>
</node>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
</group>
<!-- Visual Odometry -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<remap from="left/camera_info" to="left/camera_info_throttle" />
<remap from="right/camera_info" to="right/camera_info_throttle" />
<param name="base_link_frame_id" value="base_footprint"/>
<param name="odom_frame_id" value="odom"/>
<param name="ref_frame_change_method" value="1"/>
</node>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="mapData" to="mapData_notOptimized"/>
<param name="queue_size" type="int" value="30"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/ToroIterations" type="string" value="0"/> <!-- Disable graph optimization for map_optimizer node below -->
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Kp/NNStrategy" type="string" value="1"/>
<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
<param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/MaxWords" type="string" value="400"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer">
<remap from="mapData" to="mapData_notOptimized"/>
<remap from="mapData_notOptimized_optimized" to="mapData"/>
</node>
<node pkg="rtabmap" type="map_assembler" name="map_assembler">
<param name="occupancy_grid" type="bool" value="true"/>
</node>
</group>
</launch>
launch/azimut3/az3_mapping_robot_stereo_nav.launch
+64 -64
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@@ -62,13 +62,13 @@
<node pkg="tf" type="static_transform_publisher" name="stereo_camera_base_link" <node pkg="tf" type="static_transform_publisher" name="stereo_camera_base_link"
args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" /> args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_stereo_camera_base_link" <node pkg="tf" type="static_transform_publisher" name="base_to_stereo_camera_base_link"
args="0.01 0.06 0.90 0 0.45 0 base_link stereo_camera_base 100" /> args="0.01 0.06 0.90 0 0.37 0 base_link stereo_camera_base 100" />
<!-- Run the ROS package stereo_image_proc for image rectification--> <!-- Run the ROS package stereo_image_proc for image rectification-->
<group ns="/stereo_camera" > <group ns="/stereo_camera" >
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/> <node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!? <!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
Throttle camera images to 5 Hz (), odometry on azimut cannot run over 5Hz --> Throttle camera images -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap/stereo_throttle stereo_nodelet"> <node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap/stereo_throttle stereo_nodelet">
<remap from="left/image" to="left/image_raw"/> <remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/> <remap from="right/image" to="right/image_raw"/>
@@ -76,7 +76,7 @@
<remap from="right/camera_info" to="right/camera_info"/> <remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/> <param name="queue_size" type="int" value="10"/>
<param name="rate" type="double" value="5"/> <param name="rate" type="double" value="20"/>
</node> </node>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"> <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
@@ -109,70 +109,70 @@
</group> </group>
<!-- Visual Odometry --> <!-- Visual Odometry -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen"> <node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="stereo" to="/stereo_camera"/> <remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="image" to="image_rect"/> <remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="left/camera_info_throttle" /> <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle" /> <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/odometry"/>
<param name="base_link_frame_id" value="base_footprint"/>
<param name="odom_frame_id" value="odom"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="ref_frame_change_method" value="1"/> <param name="odom_frame_id" type="string" value="odom"/>
<param name="Odom/InlierDistance" type="string" value="0.1"/>
<param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="GFTT/MaxCorners" type="string" value="500"/>
<param name="GFTT/MinDistance" type="string" value="5"/>
</node> </node>
<!-- SLAM (robot side) --> <group ns="rtabmap">
<!-- args: "delete_db_on_start" and "udebug" --> <!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap"> <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start"> <param name="frame_id" type="string" value="base_footprint"/>
<param name="frame_id" type="string" value="base_footprint"/> <param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_stereo" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_depth" type="bool" value="false"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/> <remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/> <remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/> <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/> <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/> <remap from="odom" to="/odometry"/>
<remap from="mapData" to="mapData_notOptimized"/>
<param name="queue_size" type="int" value="30"/>
<param name="queue_size" type="int" value="30"/>
<!-- RTAB-Map's parameters -->
<!-- RTAB-Map's parameters --> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/ToroIterations" type="string" value="0"/> <!-- Disable graph optimization for map_optimizer node below --> <param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/> <param name="LccBow/MaxDepth" type="string" value="5"/>
<param name="Kp/NNStrategy" type="string" value="1"/> <param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.05"/>
<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="SURF/HessianThreshold" type="string" value="1000"/> <param name="LccReextract/MaxWords" type="string" value="500"/>
<param name="LccBow/MaxDepth" type="string" value="3"/> <!-- Disable graph optimization because we use map_optimizer node below -->
<param name="LccBow/MinInliers" type="string" value="10"/> <param name="RGBD/ToroIterations" type="string" value="0"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/> </node>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/MaxWords" type="string" value="400"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"> <!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
<remap from="mapData" to="mapData_notOptimized"/> <node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
<remap from="mapData_notOptimized_optimized" to="mapData"/>
</node> <node pkg="rtabmap" type="map_assembler" name="map_assembler">
<node pkg="rtabmap" type="map_assembler" name="map_assembler"> <param name="occupancy_grid" type="bool" value="true"/>
<param name="occupancy_grid" type="bool" value="true"/> <remap from="mapData" to="mapData_optimized"/>
<remap from="grid_projection_map" to="/map"/> <remap from="grid_projection_map" to="/map"/>
</node> </node>
</group> </group>
</launch> </launch>
launch/config/azimut3_nav.rviz
+72 -104
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@@ -1,13 +1,13 @@
Panels: Panels:
- Class: rviz/Displays - Class: rviz/Displays
Help Height: 78 Help Height: 0
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /TF1/Frames1 - /TF1/Frames1
Splitter Ratio: 0.477273 Splitter Ratio: 0.601881
Tree Height: 459 Tree Height: 181
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Views - Class: rviz/Views
@@ -20,7 +20,7 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: Info SyncSource: Image
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
Expanded: Expanded:
- /2D Pose Estimate1 - /2D Pose Estimate1
@@ -58,7 +58,7 @@ Visualization Manager:
Channel Name: rgb Channel Name: rgb
Class: rviz/PointCloud2 Class: rviz/PointCloud2
Color: 255; 255; 255 Color: 255; 255; 255
Color Transformer: RGB8 Color Transformer: Intensity
Decay Time: 0 Decay Time: 0
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
@@ -73,7 +73,7 @@ Visualization Manager:
Size (Pixels): 3 Size (Pixels): 3
Size (m): 0.01 Size (m): 0.01
Style: Points Style: Points
Topic: /voxel_cloud Topic: /odom_last_frame
Use Fixed Frame: true Use Fixed Frame: true
Use rainbow: true Use rainbow: true
Value: true Value: true
@@ -82,26 +82,24 @@ Visualization Manager:
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: false All Enabled: false
az3_base_link:
Value: true
az3_odom:
Value: true
base_footprint: base_footprint:
Value: true Value: true
base_laser_link: base_laser_link:
Value: true Value: true
base_link: base_link:
Value: true Value: true
camera_depth_frame:
Value: true
camera_depth_optical_frame:
Value: true
camera_link:
Value: true
camera_rgb_frame:
Value: true
camera_rgb_optical_frame:
Value: true
map: map:
Value: true Value: true
odom: odom:
Value: true Value: true
stereo_camera:
Value: true
stereo_camera_base:
Value: true
wheelLB_linkWheel_link: wheelLB_linkWheel_link:
Value: true Value: true
wheelLB_wheel_link: wheelLB_wheel_link:
@@ -130,13 +128,9 @@ Visualization Manager:
base_link: base_link:
base_laser_link: base_laser_link:
{} {}
camera_link: stereo_camera_base:
camera_depth_frame: stereo_camera:
camera_depth_optical_frame: {}
{}
camera_rgb_frame:
camera_rgb_optical_frame:
{}
wheelLB_linkWheel_link: wheelLB_linkWheel_link:
wheelLB_wheel_link: wheelLB_wheel_link:
{} {}
@@ -154,8 +148,8 @@ Visualization Manager:
- Alpha: 1 - Alpha: 1
Autocompute Intensity Bounds: true Autocompute Intensity Bounds: true
Autocompute Value Bounds: Autocompute Value Bounds:
Max Value: 7.24125 Max Value: 5.45389
Min Value: 1.59028 Min Value: 4.86317
Value: true Value: true
Axis: X Axis: X
Channel Name: intensity Channel Name: intensity
@@ -184,10 +178,10 @@ Visualization Manager:
Class: rviz/Map Class: rviz/Map
Color Scheme: map Color Scheme: map
Draw Behind: false Draw Behind: false
Enabled: true Enabled: false
Name: Map Name: Map
Topic: /map Topic: /map
Value: true Value: false
- Alpha: 0.7 - Alpha: 0.7
Class: rviz/Map Class: rviz/Map
Color Scheme: costmap Color Scheme: costmap
@@ -200,84 +194,29 @@ Visualization Manager:
Class: rviz/Map Class: rviz/Map
Color Scheme: costmap Color Scheme: costmap
Draw Behind: false Draw Behind: false
Enabled: true Enabled: false
Name: Map Name: Map
Topic: /planner/move_base/global_costmap/costmap Topic: /planner/move_base/global_costmap/costmap
Value: true Value: false
- Alpha: 1 - Alpha: 1
Class: rviz/RobotModel Class: rviz/RobotModel
Collision Enabled: false Collision Enabled: false
Enabled: true Enabled: false
Links: Links:
All Links Enabled: true All Links Enabled: true
Expand Joint Details: false Expand Joint Details: false
Expand Link Details: false Expand Link Details: false
Expand Tree: false Expand Tree: false
Link Tree Style: Links in Alphabetic Order Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheelLB_linkWheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheelLB_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheelLF_linkWheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheelLF_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheelRB_linkWheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheelRB_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheelRF_linkWheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheelRF_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel Name: RobotModel
Robot Description: robot_description Robot Description: robot_description
TF Prefix: "" TF Prefix: ""
Update Interval: 0 Update Interval: 0
Value: true Value: false
Visual Enabled: true Visual Enabled: true
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /camera/data_throttled_image_relay Image Topic: /stereo_camera/left/image_rect
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@@ -295,28 +234,28 @@ Visualization Manager:
Axis: Z Axis: Z
Channel Name: intensity Channel Name: intensity
Class: rtabmap/MapCloud Class: rtabmap/MapCloud
Cloud decimation: 4 Cloud decimation: 8
Cloud max depth (m): 3 Cloud max depth (m): 4
Cloud voxel size (m): 0.02 Cloud voxel size (m): 0
Color: 255; 255; 255 Color: 255; 255; 255
Color Transformer: RGB8 Color Transformer: RGB8
Download graph: false Download graph: false
Download map: false Download map: false
Enabled: true Enabled: true
Filter floor (m): 0.1 Filter floor (m): 0
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 4096 Max Intensity: 4096
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0 Min Intensity: 0
Name: MapCloud Name: MapCloud
Node filtering angle (degrees): 20 Node filtering angle (degrees): 0
Node filtering radius (m): 0.2 Node filtering radius (m): 0
Position Transformer: XYZ Position Transformer: XYZ
Size (Pixels): 3 Size (Pixels): 3
Size (m): 0.01 Size (m): 0.01
Style: Points Style: Points
Topic: /rtabmap/mapData_relay Topic: /rtabmap/mapData
Use Fixed Frame: true Use Fixed Frame: true
Use rainbow: true Use rainbow: true
Value: true Value: true
@@ -362,6 +301,35 @@ Visualization Manager:
Name: MapGraph Name: MapGraph
Topic: /rtabmap/mapData_relay Topic: /rtabmap/mapData_relay
Value: true Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 85; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /odom_local_map
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
@@ -382,32 +350,32 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rtabmap/OrbitOriented Class: rtabmap/OrbitOriented
Distance: 13.4608 Distance: 6.10754
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.06 Stereo Eye Separation: 0.06
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: -0.188739 X: -0.963614
Y: -0.297 Y: -1.20902
Z: 0.157103 Z: 0.399736
Name: Current View Name: Current View
Near Clip Distance: 0.01 Near Clip Distance: 0.01
Pitch: 1.1698 Pitch: 0.559801
Target Frame: base_link Target Frame: base_footprint
Value: OrbitOriented (rtabmap) Value: OrbitOriented (rtabmap)
Yaw: 2.92062 Yaw: 3.13741
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 917 Height: 535
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
Image: Image:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001510000034ffc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025a000000dd00fffffffb0000000a0049006d0061006700650100000288000000ef0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004c20000034f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd000000040000000000000151000001d1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000f6000000dd00fffffffb0000000a0049006d0061006700650100000124000000d50000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001d1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000001d1000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ad000001d100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@@ -418,4 +386,4 @@ Window Geometry:
collapsed: false collapsed: false
Width: 1561 Width: 1561
X: 42 X: 42
Y: 98 Y: 53
launch/tests/test_stereo_mapping.launch
-132
View File
@@ -1,132 +0,0 @@
<launch>
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
<param name="video_mode" value="format7_mode3" />
<param name="format7_color_coding" value="raw16" />
<param name="bayer_pattern" value="bggr" />
<param name="bayer_method" value="" />
<param name="stereo_method" value="Interlaced" />
<param name="camera_info_url_left" value="" />
<param name="camera_info_url_right" value="" />
</node>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Run the ROS package stereo_image_proc -->
<group ns="/stereo_camera" >
<!-- Throttle camera images to 10 Hz -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="rate" type="double" value="10"/>
</node>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
</group>
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="base_link"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
<remap from="left/camera_info" to="left/camera_info_throttle" />
<remap from="right/camera_info" to="right/camera_info_throttle" />
</node>
<!--
<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info_throttle" />
<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info_throttle" />
<remap from="odometry" to="stereo_odometer/odometry" />
</node>
-->
<!--
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
</node>
-->
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="queue_size" type="int" value="30"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="NN/NNStrategy" type="string" value="1"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="10"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
<!-- Visualisation (client side) -->
<!--
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="depth/image" to="/odom_depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
-->
</group>
<!-- RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
</launch>
launch/tests/test_stereo_mapping_bag.launch
-160
View File
@@ -1,160 +0,0 @@
<launch>
<!-- from bag: rosbag record /stereo_camera/left/image_rect/compressed /stereo_camera/right/image_rect/compressed /stereo_camera/left/camera_info /stereo_camera/right/camera_info /stereo_camera/depth/compressedDepth -->
<param name="use_sim_time" type="bool" value="True"/>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="base_link"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
<param name="image_transport" type="string" value="compressed"/>
</node>
<!--
<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info" />
<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info" />
<remap from="odometry" to="stereo_odometer/odometry" />
</node>
-->
<!--
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="odom_depth" to="/stereo_camera/depth2"/>
<param name="left/image_transport" type="string" value="compressed"/>
<param name="right/image_transport" type="string" value="compressed"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
</node>
-->
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="depth/image" to="/stereo_camera/depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="queue_size" type="int" value="30"/>
<param name="RGBD/ToroIterations" type="string" value="0"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="NN/NNStrategy" type="string" value="1"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="10"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
<!-- Visualisation (client side) -->
<!--
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="depth/image" to="/stereo_camera/depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
-->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer" output="screen"/>
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
<remap from="mapData" to="mapData_optimized"/>
<param name="occupancy_grid" type="bool" value="true"/>
</node>
</group>
<!-- RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="/stereo_camera/left/image_rect"/>
<remap from="depth/image_in" to="/stereo_camera/depth"/>
<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
<remap from="odom_in" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
<param name="queue_size" type="int" value="30"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="decimation" type="int" value="2"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyz" args="load rtabmap/point_cloud_xyz standalone_nodelet">
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="depth/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="cloudXYZ" />
<param name="queue_size" type="int" value="10"/>
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
<param name="voxel_size" type="double" value="0.05"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap/obstacles_detection standalone_nodelet">
<remap from="cloud" to="cloudXYZ"/>
</node>
</launch>
launch/tests/test_stereo_odometry.launch
+8 -9
View File
@@ -26,21 +26,20 @@
<remap from="left/camera_info" to="left/camera_info"/> <remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/> <remap from="right/camera_info" to="right/camera_info"/>
<remap from="odom" to="odom_stereo"/> <remap from="odom" to="odom_stereo"/>
<remap from="odom_local_map" to="/odom_local_map"/>
<remap from="odom_last_frame" to="/odom_last_frame"/>
<param name="frame_id" type="string" value="base_link"/> <param name="frame_id" type="string" value="base_link"/>
<param name="odom_frame_id" type="string" value="odom"/> <param name="odom_frame_id" type="string" value="odom"/>
<param name="approx_sync" type="bool" value="false"/> <param name="approx_sync" type="bool" value="false"/>
<param name="queue_size" type="int" value="5"/> <param name="queue_size" type="int" value="5"/>
<param name="Odom/Strategy" type="string" value="1"/> <param name="Odom/InlierDistance" type="string" value="0.1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/> <param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/MaxDepth" type="string" value="10"/> <param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="OdomFlow/SubPixIterations" type="string" value="0"/> <param name="Odom/MaxDepth" type="string" value="10"/>
</node>
<param name="GFTT/MaxCorners" type="string" value="500"/>
<param name="GFTT/MinDistance" type="string" value="5"/>
</node>
</group> </group>