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lidar3d examples: fixed min_loop_closure_overlap parameter not converted to string.

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matlabbe
2025-05-01 19:14:28 -07:00
parent f5a3e48705
commit 4e6924979d
3 changed files with 10 additions and 6 deletions
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rtabmap_examples/launch/lidar3d.launch.py
+8 -4
View File
@@ -46,6 +46,9 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
localization = LaunchConfiguration('localization').perform(context) localization = LaunchConfiguration('localization').perform(context)
localization = localization == 'true' or localization == 'True' localization = localization == 'true' or localization == 'True'
deskewing = LaunchConfiguration('deskewing').perform(context)
deskewing = deskewing == 'true' or deskewing == 'True'
deskewing_slerp = LaunchConfiguration('deskewing_slerp').perform(context) deskewing_slerp = LaunchConfiguration('deskewing_slerp').perform(context)
deskewing_slerp = deskewing_slerp == 'true' or deskewing_slerp == 'True' deskewing_slerp = deskewing_slerp == 'true' or deskewing_slerp == 'True'
@@ -55,7 +58,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
fixed_frame_from_imu = True fixed_frame_from_imu = True
fixed_frame_id = frame_id.perform(context) + "_stabilized" fixed_frame_id = frame_id.perform(context) + "_stabilized"
if not fixed_frame_id: if not fixed_frame_id or not deskewing:
lidar_topic_deskewed = lidar_topic lidar_topic_deskewed = lidar_topic
# Rule of thumb: # Rule of thumb:
@@ -82,7 +85,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
icp_odometry_parameters = { icp_odometry_parameters = {
'expected_update_rate': LaunchConfiguration('expected_update_rate'), 'expected_update_rate': LaunchConfiguration('expected_update_rate'),
'deskewing': not fixed_frame_id, # If fixed_frame_id is set, we do deskewing externally below 'deskewing': not fixed_frame_id and deskewing, # If fixed_frame_id is set, we do deskewing externally below
'odom_frame_id': 'icp_odom', 'odom_frame_id': 'icp_odom',
'guess_frame_id': fixed_frame_id, 'guess_frame_id': fixed_frame_id,
'deskewing_slerp': deskewing_slerp, 'deskewing_slerp': deskewing_slerp,
@@ -101,6 +104,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'subscribe_rgb': False, 'subscribe_rgb': False,
'subscribe_odom_info': True, 'subscribe_odom_info': True,
'subscribe_scan_cloud': True, 'subscribe_scan_cloud': True,
'map_frame_id': 'new_map',
# RTAB-Map's internal parameters are strings: # RTAB-Map's internal parameters are strings:
'RGBD/ProximityMaxGraphDepth': '0', 'RGBD/ProximityMaxGraphDepth': '0',
'RGBD/ProximityPathMaxNeighbors': '1', 'RGBD/ProximityPathMaxNeighbors': '1',
@@ -110,7 +114,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'Mem/NotLinkedNodesKept': 'false', 'Mem/NotLinkedNodesKept': 'false',
'Mem/STMSize': '30', 'Mem/STMSize': '30',
'Reg/Strategy': '1', 'Reg/Strategy': '1',
'Icp/CorrespondenceRatio': LaunchConfiguration('min_loop_closure_overlap') 'Icp/CorrespondenceRatio': str(LaunchConfiguration('min_loop_closure_overlap').perform(context))
} }
arguments = [] arguments = []
@@ -158,7 +162,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'wait_for_transform_duration': 0.001}], 'wait_for_transform_duration': 0.001}],
remappings=[('imu/data', imu_topic)])) remappings=[('imu/data', imu_topic)]))
if fixed_frame_id: if fixed_frame_id and deskewing:
# Lidar deskewing # Lidar deskewing
nodes.append( nodes.append(
Node( Node(
rtabmap_examples/launch/lidar3d_assemble.launch.py
+1 -1
View File
@@ -111,7 +111,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'Mem/NotLinkedNodesKept': 'false', 'Mem/NotLinkedNodesKept': 'false',
'Mem/STMSize': '30', 'Mem/STMSize': '30',
'Reg/Strategy': '1', 'Reg/Strategy': '1',
'Icp/CorrespondenceRatio': LaunchConfiguration('min_loop_closure_overlap') 'Icp/CorrespondenceRatio': str(LaunchConfiguration('min_loop_closure_overlap').perform(context))
} }
remappings = [('imu', imu_topic), remappings = [('imu', imu_topic),
rtabmap_examples/launch/lidar3d_assemble_x2.launch.py
+1 -1
View File
@@ -115,7 +115,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'Mem/NotLinkedNodesKept': 'false', 'Mem/NotLinkedNodesKept': 'false',
'Mem/STMSize': '30', 'Mem/STMSize': '30',
'Reg/Strategy': '1', 'Reg/Strategy': '1',
'Icp/CorrespondenceRatio': LaunchConfiguration('min_loop_closure_overlap') 'Icp/CorrespondenceRatio': str(LaunchConfiguration('min_loop_closure_overlap').perform(context))
} }
remappings = [('imu', imu_topic), remappings = [('imu', imu_topic),