mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
ros-pkg: updated demo_robot_mapping.launch (fixed local loop lcosure detection not working at the end of the sequence because optimization was done outside)
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2051 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -25,7 +25,7 @@ Panels:
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloud2
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SyncSource: ""
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Visualization Manager:
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Class: ""
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Displays:
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@@ -110,173 +110,13 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: false
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L_forearm_link:
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Value: true
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L_frame_tool_link:
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Value: true
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L_gripper_up_link:
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Value: true
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L_shoulder_fixed_link:
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Value: true
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L_shoulder_pan_link:
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Value: true
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L_shoulder_tilt_link:
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Value: true
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L_upper_arm_link:
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Value: true
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R_forearm_link:
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Value: true
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R_frame_tool_link:
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Value: true
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R_gripper_up_link:
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Value: true
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R_shoulder_fixed_link:
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Value: true
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R_shoulder_pan_link:
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Value: true
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R_shoulder_tilt_link:
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Value: true
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R_upper_arm_link:
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Value: true
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base_footprint:
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Value: true
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base_laser_link:
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Value: true
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base_link:
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Value: true
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head_l_eye_eyebrow_link:
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Value: true
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head_l_eye_link:
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Value: true
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head_l_eye_pupil_link:
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Value: true
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head_link:
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Value: true
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head_r_eye_eyebrow_link:
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Value: true
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head_r_eye_link:
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Value: true
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head_r_eye_pupil_link:
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Value: true
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map:
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Value: true
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neck_bracket_link:
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Value: true
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neck_pan_link:
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Value: true
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neck_tilt_link:
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Value: true
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neck_top_frame:
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Value: true
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odom:
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Value: true
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openni_base_link:
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Value: true
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openni_camera_link:
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Value: true
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openni_depth_frame:
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Value: true
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openni_depth_optical_frame:
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Value: true
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openni_rgb_frame:
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Value: true
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openni_rgb_optical_frame:
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Value: true
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torso_imu_link:
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Value: true
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torso_link:
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Value: true
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torso_stand_link:
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Value: true
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torso_top_frame:
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Value: true
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wheelLB_linkWheel_link:
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Value: true
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wheelLB_wheel_link:
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Value: true
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wheelLF_linkWheel_link:
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Value: true
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wheelLF_wheel_link:
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Value: true
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wheelRB_linkWheel_link:
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Value: true
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wheelRB_wheel_link:
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Value: true
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wheelRF_linkWheel_link:
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Value: true
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wheelRF_wheel_link:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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map:
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odom:
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base_footprint:
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base_link:
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base_laser_link:
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{}
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torso_link:
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L_shoulder_fixed_link:
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L_shoulder_pan_link:
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L_shoulder_tilt_link:
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L_upper_arm_link:
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L_forearm_link:
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L_frame_tool_link:
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{}
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L_gripper_up_link:
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{}
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R_shoulder_fixed_link:
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R_shoulder_pan_link:
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R_shoulder_tilt_link:
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R_upper_arm_link:
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R_forearm_link:
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R_frame_tool_link:
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{}
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R_gripper_up_link:
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{}
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torso_top_frame:
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neck_pan_link:
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neck_tilt_link:
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neck_bracket_link:
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neck_top_frame:
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head_link:
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head_l_eye_link:
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head_l_eye_eyebrow_link:
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{}
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head_l_eye_pupil_link:
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{}
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head_r_eye_link:
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head_r_eye_eyebrow_link:
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{}
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head_r_eye_pupil_link:
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{}
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openni_base_link:
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openni_camera_link:
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openni_depth_frame:
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openni_depth_optical_frame:
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{}
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openni_rgb_frame:
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openni_rgb_optical_frame:
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{}
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torso_imu_link:
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{}
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torso_stand_link:
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{}
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wheelLB_linkWheel_link:
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wheelLB_wheel_link:
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{}
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wheelLF_linkWheel_link:
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wheelLF_wheel_link:
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{}
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wheelRB_linkWheel_link:
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wheelRB_wheel_link:
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{}
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wheelRF_linkWheel_link:
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wheelRF_wheel_link:
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{}
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{}
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Update Interval: 0
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Value: true
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- Class: rviz/Image
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@@ -320,7 +160,7 @@ Visualization Manager:
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /rtabmap/mapData_optimized
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Topic: /rtabmap/mapData
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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@@ -329,7 +169,7 @@ Visualization Manager:
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Color: 25; 255; 0
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Enabled: true
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Name: MapGraph
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Topic: /rtabmap/mapData_optimized
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Topic: /rtabmap/mapData
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Value: true
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- Alpha: 0.7
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Class: rviz/Map
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@@ -399,5 +239,5 @@ Window Geometry:
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Views:
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collapsed: false
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Width: 1273
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X: 257
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X: 250
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Y: 86
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@@ -9,7 +9,7 @@
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start --uinfo">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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@@ -28,22 +28,15 @@
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<param name="queue_size" type="int" value="10"/>
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<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
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<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/PoseScanMatching" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
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<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
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<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
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<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
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<param name="RGBD/ToroIterations" type="string" value="0"/>
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</node>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer" output="screen"/>
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="mapData_optimized"/>
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</node>
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<!-- Visualisation (client side) -->
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<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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@@ -56,7 +49,6 @@
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<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
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<remap from="scan" to="/jn0/base_scan"/>
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<remap from="odom" to="/az3/base_controller/odom"/>
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<remap from="mapData" to="mapData_optimized"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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@@ -29,21 +29,18 @@
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<param name="queue_size" type="int" value="10"/>
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<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
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<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/PoseScanMatching" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
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<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
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<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
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<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
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<param name="RGBD/ToroIterations" type="string" value="0"/>
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</node>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer" output="screen"/>
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="mapData_optimized"/>
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler">
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<param name="unknown_space_filled" type="bool" value="false"/>
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</node>
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</group>
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