added install directives (nodes/library/launch files)

2026-09-16 00:00:20 +08:00 · 2014-12-02 16:24:26 -05:00
parent 5318b542b7
commit 6364e9be66
108 changed files with 423 additions and 54 deletions
@@ -191,25 +191,45 @@ target_link_libraries(data_player rtabmap_ros ${QT_LIBRARIES} ${Libraries})
 # )

 ## Mark executables and/or libraries for installation
-# install(TARGETS rtabmap rtabmap_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(TARGETS 
+   rtabmap_ros 
+   rtabmap 
+   rtabmapviz 
+   rgbd_odometry 
+   stereo_odometry
+   map_assembler
+   grid_map_assembler
+   map_optimizer
+   data_recorder
+   data_player
+   camera
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )

 ## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   FILES_MATCHING PATTERN "*.h"
+   PATTERN ".svn" EXCLUDE
+)

 ## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(FILES
+   launch/rgbd_mapping.launch
+   launch/rgbd_mapping_rviz.launch
+   launch/rgbd_localization.launch
+   launch/rgbd_localization_rviz.launch
+   launch/data_recorder.launch
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+install(DIRECTORY 
+   launch/config
+   launch/data
+   launch/demo
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)

 #############
 ## Testing ##
@@ -17,7 +17,7 @@
    <remap from="grid_map" to="rtabmap/grid_map"/>
  </node>
    
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
  
  <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
@@ -8,7 +8,7 @@
  <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
  <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
    
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_nav.rviz"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
  
  <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
@@ -5,5 +5,5 @@
  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
  <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/stereo_camera/left/image_rect_color raw out:=/stereo_camera/left/image_rect_color_relay" />

-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_stereo_nav.rviz"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_stereo_nav.rviz"/>
 </launch>
@@ -25,11 +25,11 @@
        <remap from="move_base_simple/goal" to="/planner_goal"/>
        
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-    	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
-     	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
   		</node>
   		
        <param name="cmd_vel/abtr_priority" value="10"/>
@@ -1,9 +1,9 @@
 <launch>
  <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
    <param name="gui" value="true" type="bool"/>
-    <param name="settings_path" value="$(find rtabmap_ros)/launch/config/azimut3_find_object.ini" type="str"/>
+    <param name="settings_path" value="$(find rtabmap_ros)/launch/azimut3/config/azimut3_find_object.ini" type="str"/>
    <param name="subscribe_depth" value="true" type="bool"/>
-    <param name="objects_path" value="$(find rtabmap_ros)/launch/config/books" type="str"/>
+    <param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
 		
    <remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
    <remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
@@ -52,7 +52,7 @@
    <node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
  </group>
   
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
  
  <!-- Below, construct point cloud of the latest throttled data -->
  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
@@ -0,0 +1,370 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+      Splitter Ratio: 0.434783
+    Tree Height: 410
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+      - /Current View1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: map
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.02684
+        Min Value: -1.12646
+        Value: true
+      Axis: Z
+      Channel Name: rgb
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 2.34177e-38
+      Min Color: 0; 0; 0
+      Min Intensity: 9.21942e-41
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /voxel_cloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        az3_base_link:
+          Value: true
+        az3_odom:
+          Value: true
+        base_footprint:
+          Value: true
+        base_laser_link:
+          Value: true
+        base_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        stereo_camera:
+          Value: true
+        stereo_camera_base:
+          Value: true
+        wheelLB_linkWheel_link:
+          Value: true
+        wheelLB_wheel_link:
+          Value: true
+        wheelLF_linkWheel_link:
+          Value: true
+        wheelLF_wheel_link:
+          Value: true
+        wheelRB_linkWheel_link:
+          Value: true
+        wheelRB_wheel_link:
+          Value: true
+        wheelRF_linkWheel_link:
+          Value: true
+        wheelRF_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                base_laser_link:
+                  {}
+                stereo_camera_base:
+                  stereo_camera:
+                    {}
+                wheelLB_linkWheel_link:
+                  wheelLB_wheel_link:
+                    {}
+                wheelLF_linkWheel_link:
+                  wheelLF_wheel_link:
+                    {}
+                wheelRB_linkWheel_link:
+                  wheelRB_wheel_link:
+                    {}
+                wheelRF_linkWheel_link:
+                  wheelRF_wheel_link:
+                    {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 3.66965
+        Min Value: -0.144665
+        Value: true
+      Axis: X
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 5
+      Size (m): 0.01
+      Style: Points
+      Topic: /base_scan
+      Use Fixed Frame: false
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /rtabmap/grid_map
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/data_throttled_image_relay
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rtabmap/MapCloud
+      Cloud decimation: 4
+      Cloud max depth (m): 3
+      Cloud voxel size (m): 0.02
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Download graph: false
+      Download map: false
+      Enabled: true
+      Filter floor (m): 0
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: MapCloud
+      Node filtering angle (degrees): 20
+      Node filtering radius (m): 0.2
+      Position Transformer: XYZ
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /rtabmap/mapData
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rtabmap/Info
+      Enabled: true
+      Name: Info
+      Topic: /rtabmap/info
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /rtabmap/grid_projection_map
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rtabmap/OrbitOriented
+      Distance: 7.83194
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.0199225
+        Y: 0.23516
+        Z: -0.0896359
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.699796
+      Target Frame: base_link
+      Value: OrbitOriented (rtabmap)
+      Yaw: 3.19875
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 763
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000229000000dd00fffffffb0000000a0049006d006100670065010000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1561
+  X: 42
+  Y: 108
--- a/Show More
+++ b/Show More