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Updated demo_turtlebot_mapping.launch (decreased LccIcp2/CorrespondenceRatio to 0.05, added localization mode)

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This commit is contained in:
Mathieu Labbe
2015-05-25 10:46:52 -04:00
parent a7be53e2fd
commit 4cf39cb8e0
3 changed files with 54 additions and 33 deletions
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launch/demo/demo_turtlebot_mapping.launch
+42 -22
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@@ -1,18 +1,30 @@
<launch>
<!--
Usage:
Bringup Turtlebot:
$ roslaunch turtlebot_bringup minimal.launch
Mapping:
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
Visualization:
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
This launch file is a one to one replacement of the gmapping_demo.launch in this tutorial:
This launch file is a one to one replacement of the gmapping_demo.launch in the
"SLAM Map Building with TurtleBot" tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM
For localization-only after a mapping session, add argument "localization:=true" to
demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in
the previous map, then the 2D map should re-appear again. You can then follow the same steps
from 3.3.2 of the "Autonomous Navigation of a Known Map with TurtleBot" tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
-->
<arg name="rgbd_odometry" default="false" />
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="localization" default="false"/>
<arg name="rgbd_odometry" default="false"/>
<arg name="args" default=""/>
<!-- Navigation stuff (move_base) -->
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
@@ -21,17 +33,18 @@
<!-- Mapping -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<!-- inputs -->
<remap from="scan" to="/scan"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<!-- output -->
@@ -40,21 +53,28 @@
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.05"/>
<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="Odom/Force2D" type="string" value="true"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>