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Added visual_odometry (bool) and odom_topic arguments to main launch files

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matlabbe
2015-08-07 14:04:45 -04:00
parent 091bf0b7be
commit 593fa7e09e
2 changed files with 20 additions and 10 deletions
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launch/rgbd_mapping.launch
+12 -7
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@@ -1,11 +1,11 @@
<launch>
<!-- Your RGB-D sensor should be already started with "depth_registration:=true".
<!-- Your RGB-D sensor should be already started with "depth_registration:=true".
Examples:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ roslaunch openni2_launch openni2.launch depth_registration:=true -->
<!-- Choose visualization -->
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
@@ -26,6 +26,9 @@
<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
<arg name="scan_topic" default="/scan"/>
<arg name="visual_odometry" default="true"/> <!-- Generate visual odometry -->
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
<arg name="namespace" default="rtabmap"/>
<arg name="wait_for_transform" default="true"/>
@@ -38,13 +41,12 @@
<arg name="min_inliers" default="20" /> <!-- Minimum visual correspondences to accept a transformation (m) -->
<arg name="inlier_distance" default="0.02" /> <!-- RANSAC maximum inliers distance (m) -->
<arg name="local_map" default="1000" /> <!-- Local map size: number of unique features to keep track -->
<arg name="odom_info_data" default="true" /> <!-- Fill odometry info messages with inliers/outliers data. -->
<!-- Nodes -->
<group ns="$(arg namespace)">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -59,7 +61,7 @@
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
<param name="Odom/FillInfoData" type="string" value="true"/>
</node>
<!-- Visual SLAM (robot side) -->
@@ -74,6 +76,7 @@
<remap from="depth/image" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
@@ -91,7 +94,7 @@
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
@@ -99,6 +102,7 @@
<remap from="depth/image" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
</node>
</group>
@@ -111,7 +115,8 @@
<remap from="rgb/image_in" to="$(arg rgb_topic)"/>
<remap from="depth/image_in" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info_in" to="$(arg camera_info_topic)"/>
<remap from="odom_in" to="rtabmap/odom"/>
<remap if="$(arg visual_odometry)" from="odom_in" to="rtabmap/odom"/>
<remap unless="$(arg visual_odometry)" from="odom_in" to="$(arg odom_topic)"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>