From 6b4883e6dea1fcaa9053310134e54e961ade966b Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Thu, 10 Jul 2014 19:11:03 +0000
Subject: [PATCH] added azimut3 launch configurations: Kinect+odom and
 Kinect-only

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1536 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 .../az3_mapping_robot_kinect_odom.launch      | 62 +++++++++++++++++++
 .../az3_mapping_robot_kinect_only.launch      | 26 ++++++++
 2 files changed, 88 insertions(+)
 create mode 100644 launch/azimut3/az3_mapping_robot_kinect_odom.launch
 create mode 100644 launch/azimut3/az3_mapping_robot_kinect_only.launch

diff --git a/launch/azimut3/az3_mapping_robot_kinect_odom.launch b/launch/azimut3/az3_mapping_robot_kinect_odom.launch
new file mode 100644
index 00000000..f4ca0a6a
--- /dev/null
+++ b/launch/azimut3/az3_mapping_robot_kinect_odom.launch
@@ -0,0 +1,62 @@
+
+<launch>
+
+  <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
+  <include file="$(find az3_bringup)/az3_standalone.launch"/>
+  <include file="$(find az3_bringup)/joystick.launch"/>
+  
+  <!-- OpenNI -->
+  <!-- Xtion -->
+  <include file="$(find openni2_launch)/launch/openni2.launch">
+    <arg name="depth_registration" value="True" />
+    <arg name="rgb_camera_info_url"
+        value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
+   <arg name="depth_camera_info_url"
+        value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
+  </include>
+
+  <!-- Xtion frame -->
+  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
+      args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
+
+  <!-- Throttling messages -->
+  <group ns="camera">
+    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
+      <param name="max_rate" type="double" value="5.0"/>
+   
+      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
+      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
+      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
+    
+      <remap from="rgb/image_out"       to="data_throttled_image"/>
+      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
+      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
+    </node>  
+  </group>  
+
+  <!-- SLAM (robot side) -->
+  <!-- args: "delete_db_on_start" and "udebug" -->
+  <group ns="rtabmap">
+    <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
+	  <param name="frame_id" type="string" value="base_footprint"/>
+	  <param name="subscribe_depth" type="bool" value="true"/>
+	
+	  <remap from="odom" to="/base_controller/odom"/>
+	  <remap from="rgb/image" to="/camera/data_throttled_image"/>
+  	  <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
+  	  <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
+	
+	  <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/LocalLoopDetectionTime" type="string" value="false"/>    <!-- Local loop closure detection with locations in STM -->
+	  <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>      <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
+	  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>             <!-- Update map only if the robot is moving -->
+	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>              <!-- Update map only if the robot is moving -->
+	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
+	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
+	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>   
+   	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
+    </node>
+  </group>
+</launch>
diff --git a/launch/azimut3/az3_mapping_robot_kinect_only.launch b/launch/azimut3/az3_mapping_robot_kinect_only.launch
new file mode 100644
index 00000000..c4e20f15
--- /dev/null
+++ b/launch/azimut3/az3_mapping_robot_kinect_only.launch
@@ -0,0 +1,26 @@
+
+<launch>
+
+  <!-- "Disable" odometry from azimut3 -->
+  <group ns="base_controller">
+      <param name="odom_frame_id" type="string" value="az3_odom"/>
+      <param name="base_frame_id" type="string" value="az3_base_link"/>
+  </group>
+
+  <!-- Odometry -->
+  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+    <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
+    <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
+    <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+    <remap from="odom" to="/base_controller/odom"/>
+
+    <param name="Odom/MinInliers" type="string" value="10"/>
+    <param name="Odom/InlierDistance" type="string" value="0.01"/>
+   
+    <param name="frame_id" type="string" value="base_footprint"/>
+  </node>
+
+  <!-- use same launch file as "Kinect + Odometry" configuration -->
+  <include file="$(find rtabmap)/az3_mapping_robot_kinect_odom.launch"/>
+
+</launch>