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

launch/config/turtlebot_navigation.rviz

@@ -49,7 +49,7 @@ Visualization Manager:
         Z: 0
       Plane: XY
       Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
+      Reference Frame: map
       Value: true
     - Alpha: 1
       Class: rviz/RobotModel
@@ -366,7 +366,7 @@ Visualization Manager:
       Class: rtabmap_ros/MapCloud
       Cloud decimation: 4
       Cloud max depth (m): 4
-      Cloud voxel size (m): 0.01
+      Cloud voxel size (m): 0.05
       Color: 255; 255; 255
       Color Transformer: RGB8
       Download graph: false
@@ -379,8 +379,8 @@ Visualization Manager:
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: Rtabmap cloud
-      Node filtering angle (degrees): 30
+      Node filtering angle (degrees): 0
-      Node filtering radius (m): 0.2
+      Node filtering radius (m): 0
       Position Transformer: XYZ
       Size (Pixels): 3
       Size (m): 0.01
@@ -409,7 +409,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 7.70311
+      Distance: 5.31174
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
@@ -418,13 +418,13 @@ Visualization Manager:
       Focal Point:
         X: 0.00901246
         Y: -0.126793
-        Z: 0.0121136
+        Z: 0.0223136
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 1.5348
+      Pitch: 1.3598
-      Target Frame: base_link
+      Target Frame: base_footprint
       Value: Orbit (rviz)
-      Yaw: 3.12411
+      Yaw: 3.12914
     Saved: ~
 Window Geometry:
   Displays:
@@ -442,5 +442,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1503
-  X: 106
+  X: 85
   Y: 188

launch/demo/demo_turtlebot_mapping.launch

@@ -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"/>
@@ -21,7 +33,8 @@
   <!-- Mapping -->
   <group ns="rtabmap">
 
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
+    <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"/>
@@ -43,18 +56,25 @@
 	  <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="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"/>

src/CoreNode.cpp

@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UDirectory.h>
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UFile.h>
+#include <rtabmap/core/Version.h>
 
 int main(int argc, char** argv)
 {
@@ -102,7 +103,7 @@ int main(int argc, char** argv)
 
 	CoreWrapper * rtabmap = new CoreWrapper(deleteDbOnStart);
 
-	ROS_INFO("rtabmap started...");
+	ROS_INFO("rtabmap %s started...", RTABMAP_VERSION);
 	ros::spin();
 
 	delete rtabmap;