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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/stereo_mapping.launch
+8 -3
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@@ -28,6 +28,9 @@
<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"/>
@@ -46,7 +49,7 @@
<group ns="$(arg namespace)">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
<remap from="right/image_rect" to="$(arg right_image_topic)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
@@ -63,7 +66,7 @@
<param name="Odom/MinInliers" type="string" value="$(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="$(arg odom_info_data)"/>
<param name="Odom/FillInfoData" type="string" value="true"/>
</node>
<!-- Visual SLAM (robot side) -->
@@ -82,6 +85,7 @@
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(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)"/>
@@ -100,7 +104,7 @@
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_stereo" 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="$(arg wait_for_transform)"/>
@@ -109,6 +113,7 @@
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
</node>
</group>