mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Updated turtlebot demo launch file (disabled proximity scan matching and increased minInliers). Added demo_turtlebot_tango.launch
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matlabbe
@@ -22,10 +22,11 @@
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-->
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<arg name="database_path" default="rtabmap.db"/>
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<arg name="localization" default="false"/>
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<arg name="rgbd_odometry" default="false"/>
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<arg name="args" default=""/>
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<arg name="rtabmapviz" default="false"/>
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<arg name="localization" default="false"/>
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<arg if="$(arg localization)" name="args" default=""/>
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<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
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<arg name="wait_for_transform" default="0.2"/>
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<!--
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@@ -61,12 +62,13 @@
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<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
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<param name="Kp/MaxDepth" type="string" value="4.0"/>
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<param name="Reg/Strategy" type="string" value="1"/> <!-- Loop closure transformation refining with ICP: 0=Visual, 1=ICP, 2=Visual+ICP -->
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<param name="Reg/Strategy" type="string" value="0"/> <!-- Loop closure transformation: 0=Visual, 1=ICP, 2=Visual+ICP -->
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<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
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<param name="Vis/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="Vis/MinInliers" type="string" value="15"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
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<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
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<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
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<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
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<param name="Optimizer/Slam2D" type="string" value="true"/>
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@@ -0,0 +1,120 @@
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<launch>
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<!--
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Bringup Turtlebot:
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$ roslaunch turtlebot_bringup minimal.launch
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Mapping:
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$ roslaunch rtabmap_ros demo_turtlebot_tango.launch
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Visualization:
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$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
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This launch file is a one to one replacement of the gmapping_demo.launch in the
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"SLAM Map Building with TurtleBot" tutorial:
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http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM
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For localization-only after a mapping session, add argument "localization:=true" to
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demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in
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the previous map, then the 2D map should re-appear again. You can then follow the same steps
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from 3.3.2 of the "Autonomous Navigation of a Known Map with TurtleBot" tutorial:
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http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
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-->
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<arg name="database_path" default="rtabmap.db"/>
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<arg name="tango_odometry" default="true"/>
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<arg name="localization" default="false"/>
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<arg name="rtabmapviz" default="false"/>
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<arg if="$(arg localization)" name="args" default=""/>
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<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
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<arg name="wait_for_transform" default="0.2"/>
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<!--
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robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml"
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can be increase from 5 to 10 Hz to avoid some TF warnings.
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-->
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<!-- Adjust these transforms on where Tango is fixed on the robot (should be landscape to get laser scans right). When Tango odometry is used, we need to offset /start_of_service to actual camera pose, then set /base_footprint relative to /device 1.5707963267948966 -->
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<node if="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="device_base_link" args="-0.3 0 0 0 1.5707963267948966 0 device base_footprint 100" />
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<node if="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="odom_start_of_service_link" args="0 0 0.3 0 0 0 odom start_of_service 100" />
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<node unless="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="base_device_link" args="0 0 0.3 0 0 0 device base_link 100" />
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<!-- Generate registered depth image -->
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<node name="pointcloud_to_depthimage" pkg="rtabmap_ros" type="pointcloud_to_depthimage">
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<remap from="cloud" to="/tango/point_cloud"/>
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<remap from="image" to="/tango/registered_depth"/>
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<remap from="camera_info" to="/tango/camera/color_1/camera_info"/>
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<param name="fixed_frame_id" type="string" value="odom"/>
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<param name="decimation" type="int" value="8"/>
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<param name="fill_holes_size" type="int" value="5"/>
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</node>
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<!-- Navigation stuff (move_base) -->
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<node name="scan_relay" type="relay" pkg="topic_tools" args="/tango/laser_scan /scan"/>
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<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
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<!-- relay to avoid subscribing multiple times to rgb image -->
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<node name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=/tango/camera/color_1/image_raw raw out:=/tango/camera/color_1/image_raw/relay" />
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<!-- Mapping -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
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<param name="database_path" type="string" value="$(arg database_path)"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_scan" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="true"/>
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<!-- inputs -->
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<remap from="scan" to="/scan"/>
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<remap from="rgb/image" to="/tango/camera/color_1/image_raw/relay"/>
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<remap from="depth/image" to="/tango/registered_depth"/>
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<remap from="rgb/camera_info" to="/tango/camera/color_1/camera_info"/>
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<!-- output -->
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<remap from="grid_map" to="/map"/>
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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/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
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<param name="Kp/MaxDepth" type="string" value="4.0"/>
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<param name="Reg/Strategy" type="string" value="0"/> <!-- Loop closure transformation: 0=Visual, 1=ICP, 2=Visual+ICP -->
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<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
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<param name="Vis/MinInliers" type="string" value="15"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
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<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
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<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
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<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
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<param name="Optimizer/Slam2D" type="string" value="false"/> <!-- cannot do 2D slam as Tango is 6DoF -->
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<param name="Reg/Force3DoF" type="string" value="false"/> <!-- cannot do 2D slam as Tango is 6DoF -->
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<param name="Mem/ImagePreDecimation" type="string" value="2"/>
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<param name="Mem/ImagePostDecimation" type="string" value="2"/>
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<!-- localization mode -->
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<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
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<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
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<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
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</node>
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<!-- visualization with rtabmapviz -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_scan" type="bool" value="true"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<remap from="rgb/image" to="/tango/camera/color_1/image_raw/relay"/>
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<remap from="depth/image" to="/tango/registered_depth"/>
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<remap from="rgb/camera_info" to="/tango/camera/color_1/camera_info"/>
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<remap from="scan" to="/scan"/>
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</node>
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</group>
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</launch>
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