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rtabmap parameters are now private. rtabmapviz has now a parameter "rtabmap" (rtabmap node name) to get/set parameters. Added clear_params option (default true) to rtabmap.launch. This fixes http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-rosmon-is-not-running-twice-td8373.html

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matlabbe
2021-09-08 15:41:32 -04:00
parent e0fa1c264a
commit 533669dca7
8 changed files with 48 additions and 66 deletions
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launch/rtabmap.launch
+11 -10
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@@ -51,6 +51,7 @@
<arg name="gdb" default="false"/> <!-- Launch nodes in gdb for debugging (apt install xterm gdb) -->
<arg if="$(arg gdb)" name="launch_prefix" default="xterm -e gdb -q -ex run --args"/>
<arg unless="$(arg gdb)" name="launch_prefix" default=""/>
<arg name="clear_params" default="true"/>
<arg name="output" default="screen"/> <!-- Control node output (screen or log) -->
<arg name="publish_tf_map" default="true"/>
@@ -162,7 +163,7 @@
<group if="$(arg rgbd_sync)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(arg output)">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" clear_params="$(arg clear_params)" output="$(arg output)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -182,7 +183,7 @@
<group if="$(arg rgbd_sync)">
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
<node pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync" clear_params="$(arg clear_params)" output="$(arg output)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
@@ -196,7 +197,7 @@
<group unless="$(arg rgbd_sync)">
<group if="$(arg subscribe_rgbd)">
<node name="republish_rgbd_image" type="rgbd_relay" pkg="rtabmap_ros">
<node name="republish_rgbd_image" type="rgbd_relay" pkg="rtabmap_ros" clear_params="$(arg clear_params)">
<remap if="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)/compressed"/>
<remap if="$(arg compressed)" from="$(arg rgbd_topic)/compressed_relay" to="$(arg rgbd_topic_relay)"/>
<remap unless="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)"/>
@@ -210,7 +211,7 @@
<group if="$(arg visual_odometry)">
<!-- RGB-D Odometry -->
<node unless="$(arg stereo)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<node unless="$(arg stereo)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -238,7 +239,7 @@
</node>
<!-- Stereo Odometry -->
<node if="$(arg stereo)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<node if="$(arg stereo)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
@@ -269,7 +270,7 @@
</group>
<!-- ICP Odometry -->
<node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
@@ -292,7 +293,7 @@
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
</node>
<node if="$(arg scan_cloud_assembling)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" output="$(arg output)">
<node if="$(arg scan_cloud_assembling)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" clear_params="$(arg clear_params)" output="$(arg output)">
<remap if="$(arg scan_cloud_filtered)" from="cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg scan_cloud_filtered)" from="cloud" to="$(arg scan_cloud_topic)"/>
@@ -309,7 +310,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" clear_params="$(arg clear_params)" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgb" type="bool" value="$(arg subscribe_rgb)"/>
@@ -377,7 +378,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" clear_params="$(arg clear_params)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgb" type="bool" value="$(arg subscribe_rgb)"/>
@@ -418,7 +419,7 @@
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb" output="$(arg output)">
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb" clear_params="$(arg clear_params)" output="$(arg output)">
<remap if="$(arg stereo)" from="left/image" to="$(arg left_image_topic_relay)"/>
<remap if="$(arg stereo)" from="right/image" to="$(arg right_image_topic_relay)"/>
<remap if="$(arg stereo)" from="left/camera_info" to="$(arg left_camera_info_topic)"/>