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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)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2051 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-19 23:41:11 +00:00
parent af1a92e031
commit 5b41c2add5
4 changed files with 18 additions and 182 deletions
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launch/demo/demo_robot_mapping.launch
+3 -11
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@@ -9,7 +9,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start --uinfo">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -28,22 +28,15 @@
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/PoseScanMatching" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/ToroIterations" type="string" value="0"/>
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer" output="screen"/>
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="mapData_optimized"/>
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
@@ -56,7 +49,6 @@
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<remap from="mapData" to="mapData_optimized"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
launch/demo/demo_robot_mapping_rviz.launch
+3 -6
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@@ -29,21 +29,18 @@
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/PoseScanMatching" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="RGBD/ToroIterations" type="string" value="0"/>
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer" output="screen"/>
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="mapData_optimized"/>
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler">
<param name="unknown_space_filled" type="bool" value="false"/>
</node>
</group>