Merged pcl_integration branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-04 08:47:45 +08:00 · 2013-12-11 00:12:44 +00:00
parent af3a099986
commit 6c008429b9
131 changed files with 4946 additions and 344 deletions
@@ -20,7 +20,7 @@
 					<folderInfo id="0.250647335." name="/" resourcePath="">
 						<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1185920931" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
 							<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1185920931.1819283928" name=""/>
-							<builder arguments="VERBOSE=true" command="make" id="org.eclipse.cdt.build.core.settings.default.builder.425794023" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
+							<builder arguments="VERBOSE=true" buildPath="${ProjDirPath}/../../build" command="make" id="org.eclipse.cdt.build.core.settings.default.builder.425794023" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.libs.1445630059" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.1764610277" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
 								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1671812416" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
@@ -29,6 +29,10 @@
 					<key>org.eclipse.cdt.make.core.buildCommand</key>
 					<value>make</value>
 				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildLocation</key>
+					<value>${ProjDirPath}/../../build</value>
+				</dictionary>
 				<dictionary>
 					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
 					<value>clean</value>
@@ -1,51 +1,171 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(rtabmap)

-project(rtabmap-pkg)
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS 
+             cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs 
+             image_transport tf tf_conversions laser_geometry pcl_conversions 
+             pcl_ros nodelet dynamic_reconfigure
+)

-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)

-rosbuild_init()
+find_package(RTABMap 0.6 REQUIRED)

-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()

-# For CMake 2.6
-SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
-SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
-SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+#######################################
+## Declare ROS messages and services ##
+#######################################

-#uncomment if you have defined messages
-rosbuild_genmsg()
-#uncomment if you have defined services
-rosbuild_gensrv()
+## Generate messages in the 'msg' folder
+add_message_files(
+   FILES
+   Info.msg
+   InfoEx.msg
+   KeyPoint.msg
+   MapData.msg
+   Bytes.msg
+)

-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )

-find_package(OpenCV REQUIRED)
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+   DEPENDENCIES
+   std_msgs
+   geometry_msgs
+)

-rosbuild_add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp)
-target_link_libraries(rtabmap ${OpenCV_LIBS})
+#add dynamic reconfigure api
+generate_dynamic_reconfigure_options(cfg/Camera.cfg)

-FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui)
-IF(QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)
-    INCLUDE(${QT_USE_FILE})
-    rosbuild_add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
-    target_link_libraries(rtabmapviz ${QT_LIBRARIES} ${OpenCV_LIBS} "-lrtabmap_gui")
-ELSE()
-    MESSAGE(STATUS "[WARNING] Qt4 not found, the GUI node will not be compiled...")
-ENDIF()
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rtabmap_ros
+  CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs 
+                 image_transport tf tf_conversions laser_geometry pcl_conversions 
+                 pcl_ros nodelet dynamic_reconfigure
+  DEPENDS RTABMap
+)
+
+###########
+## Build ##
+###########
+
+MESSAGE(STATUS "RTABMap_INCLUDE_DIRS=${RTABMap_INCLUDE_DIRS}")
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${RTABMap_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+add_library(rtabmap_ros
+   src/nodelets/data_throttle.cpp
+   src/nodelets/data_odom_sync.cpp
+   src/nodelets/point_cloud_xyzrgb.cpp 
+   src/MsgConversion.cpp
+)
+target_link_libraries(rtabmap_ros
+  ${catkin_LIBRARIES}
+  ${RTABMap_LIBRARIES}
+)
+
+add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp)
+add_dependencies(rtabmap rtabmap_generate_messages_cpp)
+target_link_libraries(rtabmap rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(visual_odometry src/VisualOdometryNode.cpp)
+target_link_libraries(visual_odometry rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(map_assembler src/MapAssemblerNode.cpp)
+target_link_libraries(map_assembler rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(grid_map_assembler src/GridMapAssemblerNode.cpp)
+target_link_libraries(grid_map_assembler rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(camera src/CameraNode.cpp)
+add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
+target_link_libraries(camera ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+#Qt stuff
+FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
+INCLUDE(${QT_USE_FILE})
+add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
+target_link_libraries(rtabmapviz rtabmap_ros ${QT_LIBRARIES} ${catkin_LIBRARIES} ${RTABMap_LIBRARIES})
+
+add_executable(data_recorder src/DataRecorderNode.cpp)
+target_link_libraries(data_recorder rtabmap_ros ${catkin_LIBRARIES} ${QT_LIBRARIES} ${RTABMap_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## 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 ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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 ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_rtabmap.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
@@ -0,0 +1,16 @@
+#!/usr/bin/env python
+PACKAGE = "rtabmap"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("device_id", int_t, 0, "Camera device ID", 0, 0, 7)
+gen.add("frame_rate", double_t, 0, "Frame rate", 15.0, 0.0, 100.0)
+gen.add("width", int_t, 0, "Width", 640, 0, 1920)
+gen.add("height", int_t, 0, "Image height", 480, 0, 1080)
+gen.add("video_or_images_path", str_t, 0, "Video or images directory path", "")
+gen.add("auto_restart", bool_t, 0, "Auto restart the camera (with reading from images and video)", True)
+gen.add("pause", bool_t, 0, "Pause", False)
+
+exit(gen.generate(PACKAGE, "rtabmap", "Camera"))
@@ -0,0 +1,29 @@
+/*
+ * MsgConversion.h
+ *
+ *  Created on: 2013-10-23
+ *      Author: mathieu
+ */
+
+#ifndef MSGCONVERSION_H_
+#define MSGCONVERSION_H_
+
+#include <tf/LinearMath/Transform.h>
+#include <geometry_msgs/Transform.h>
+#include <geometry_msgs/Pose.h>
+#include <rtabmap/core/Transform.h>
+
+namespace rtabmap {
+
+void transformToTF(const rtabmap::Transform & transform, tf::Transform & tfTransform);
+rtabmap::Transform transformFromTF(const tf::Transform & transform);
+
+void transformToGeometryMsg(const rtabmap::Transform & transform, geometry_msgs::Transform & msg);
+rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::Transform & msg);
+
+void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pose & msg);
+rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
+
+}
+
+#endif /* MSGCONVERSION_H_ */
@@ -0,0 +1,40 @@
+[Gui]
+General\imagesKept=true
+General\loggerLevel=2
+General\loggerEventLevel=3
+General\loggerPauseLevel=4
+General\loggerType=1
+General\loggerPrintTime=true
+General\verticalLayoutUsed=false
+General\imageFlipped=false
+General\imageRejectedShown=true
+General\imageHighestHypShown=true
+General\beep=false
+General\keypointsOpacity=16
+General\voxelSize=0
+General\decimation=16
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\x11\0\0\x1\xf4\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0(\0\0\x1\xf4\0\0\x1\xcc\0\xff\xff\xff\0\0\0\x1\0\0\x3k\0\0\x1\xf4\xfc\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0(\0\0\x1\xf4\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x6 \0\0\0\x9c\xfc\x1\0\0\0\x4\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x6 \0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x5\t\0\0\x1\xf4\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0*\0\0\0\x63\0\0\x6Y\0\0\x3Z\0\0\0\x32\0\0\0\x7f\0\0\x6Q\0\0\x3R\0\0\0\0\0\0)
+General\showClouds0=true
+General\voxelSize0=0
+General\decimation0=4
+General\maxDepth0=4
+General\showScans0=true
+General\opacity0=0.6
+General\ptSize0=1
+General\opacityScan0=1
+General\ptSizeScan0=1
+General\showClouds1=true
+General\voxelSize1=0
+General\decimation1=2
+General\maxDepth1=0
+General\showScans1=true
+General\opacity1=1
+General\ptSize1=1
+General\opacityScan1=1
+General\ptSizeScan1=1
+General\showClouds2=true
+General\voxelSize2=0.01
+General\decimation2=1
+General\maxDepth2=4
+General\showScans2=true
@@ -0,0 +1,410 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Grid1
+        - /PointCloud21
+        - /TF1/Frames1
+        - /Marker1/Namespaces1
+        - /Odometry1
+        - /PointCloud22
+        - /PointCloud23
+        - /Odometry2
+        - /LaserScan1
+        - /Map1
+        - /Map1/Status1
+      Splitter Ratio: 0.5
+    Tree Height: 581
+  - 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
+    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: odom
+      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
+        L_forearm_link:
+          Value: true
+        L_frame_tool_link:
+          Value: true
+        L_gripper_up_link:
+          Value: true
+        L_shoulder_fixed_link:
+          Value: true
+        L_shoulder_pan_link:
+          Value: true
+        L_shoulder_tilt_link:
+          Value: true
+        L_upper_arm_link:
+          Value: true
+        R_forearm_link:
+          Value: true
+        R_frame_tool_link:
+          Value: true
+        R_gripper_up_link:
+          Value: true
+        R_shoulder_fixed_link:
+          Value: true
+        R_shoulder_pan_link:
+          Value: true
+        R_shoulder_tilt_link:
+          Value: true
+        R_upper_arm_link:
+          Value: true
+        base_footprint:
+          Value: true
+        base_laser_link:
+          Value: true
+        base_link:
+          Value: true
+        head_l_eye_eyebrow_link:
+          Value: true
+        head_l_eye_link:
+          Value: true
+        head_l_eye_pupil_link:
+          Value: true
+        head_link:
+          Value: true
+        head_r_eye_eyebrow_link:
+          Value: true
+        head_r_eye_link:
+          Value: true
+        head_r_eye_pupil_link:
+          Value: true
+        map:
+          Value: true
+        neck_bracket_link:
+          Value: true
+        neck_pan_link:
+          Value: true
+        neck_tilt_link:
+          Value: true
+        neck_top_frame:
+          Value: true
+        odom:
+          Value: true
+        openni_base_link:
+          Value: true
+        openni_camera_link:
+          Value: true
+        openni_depth_frame:
+          Value: true
+        openni_depth_optical_frame:
+          Value: true
+        openni_rgb_frame:
+          Value: true
+        openni_rgb_optical_frame:
+          Value: true
+        torso_imu_link:
+          Value: true
+        torso_link:
+          Value: true
+        torso_stand_link:
+          Value: true
+        torso_top_frame:
+          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:
+            {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: visualization_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /visualization_marker_wheels
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Angle Tolerance: 0
+      Class: rviz/Odometry
+      Color: 255; 25; 0
+      Enabled: true
+      Keep: 1
+      Length: 1
+      Name: Odometry
+      Position Tolerance: 0
+      Topic: /odom
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.3372
+        Min Value: -0.700095
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      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: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /assembled_clouds
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 4.00237
+        Min Value: 0.462084
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      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: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /assembled_scans
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.1283
+        Min Value: -0.00552607
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /cloud2
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Angle Tolerance: 0.01
+      Class: rviz/Odometry
+      Color: 255; 25; 0
+      Enabled: true
+      Keep: 1
+      Length: 1
+      Name: Odometry
+      Position Tolerance: 0.01
+      Topic: /odom_slam
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.97636
+        Min Value: -11.138
+        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): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /jn0/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: /grid_map
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    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: rviz/Orbit
+      Distance: 16.0582
+      Focal Point:
+        X: -0.102899
+        Y: 0.0127649
+        Z: 0.650117
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.6598
+      Target Frame: base_link
+      Value: Orbit (rviz)
+      Yaw: 3.58419
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 754
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000136000002d4fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002d4000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000035a000002d400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1174
+  X: 42
+  Y: 88
@@ -0,0 +1,41 @@
+[Gui]
+General\imagesKept=true
+General\loggerLevel=2
+General\loggerEventLevel=3
+General\loggerPauseLevel=4
+General\loggerType=1
+General\loggerPrintTime=true
+General\verticalLayoutUsed=true
+General\imageFlipped=false
+General\imageRejectedShown=true
+General\imageHighestHypShown=true
+General\beep=false
+General\keypointsOpacity=16
+General\voxelSize=0
+General\decimation=16
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\x11\0\0\x2u\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0(\0\0\x2u\0\0\x1\xcc\0\xff\xff\xff\0\0\0\x1\0\0\x3\xa0\0\0\x2u\xfc\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2u\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\xf7\0\0\0\x9c\xfc\x1\0\0\0\x4\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x5\xf7\0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1:\0\0\x2u\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0*\0\0\0Y\0\0\x6\x30\0\0\x3\xd1\0\0\0\x32\0\0\0u\0\0\x6(\0\0\x3\xc9\0\0\0\0\0\0)
+General\showClouds0=true
+General\voxelSize0=0.1
+General\decimation0=4
+General\maxDepth0=4
+General\showScans0=true
+General\opacity0=0.6
+General\ptSize0=1
+General\opacityScan0=1
+General\ptSizeScan0=5
+General\showClouds1=true
+General\voxelSize1=0
+General\decimation1=4
+General\maxDepth1=0
+General\showScans1=true
+General\opacity1=1
+General\ptSize1=10
+General\opacityScan1=1
+General\ptSizeScan1=1
+General\showClouds2=true
+General\voxelSize2=0.1
+General\decimation2=1
+General\maxDepth2=4
+General\showScans2=true
+General\meshing0=true
@@ -1,28 +0,0 @@
-<launch>
-	
-	<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
-	<!-- WARNING : Database is automatically deleted on each startup -->
-	<!--           See "delete_db_on_start" option below... -->
-		
-	<!-- args: "delete_db_on_start" and "udebug" -->
-	<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
-	
-		<param name="config_path" value="~/.rtabmap/demo.ini" type="string"/>
-		<param name="working_directory" value="~/.rtabmap" type="string"/>  
-	</node>
-	
-	<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen"
-	 args="-d ~/.rtabmap/demo.ini"/>
-	
-	<!-- uimage pkg is from the UtiLite stack : svn checkout http://utilite.googlecode.com/svn/trunk/ros-pkg utilite -->
-	<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
-	<node name="camera" pkg="uimage" type="camera" output="screen">
-		<remap from="/camera/image" to="/image"/>
-		<param name="device_id" value="0" type="int"/>
-		<param name="video_or_images_path" value="$(find rtabmap_lib)/build/rtabmap-svn/bin/data/samples" type="string"/>
-		<param name="frame_rate" value="2.0" type="double"/>
-		<param name="width" value="0" type="int"/>
-		<param name="height" value="0" type="int"/>
-		<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
-	</node>
-</launch>
@@ -0,0 +1,45 @@
+<launch>
+	
+	<!-- APPEARANCE-BASED LOCALIZATION VERSION -->
+
+  <group ns="rtabmap">
+	<!-- args: "delete_db_on_start" and "udebug" -->
+	<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
+	
+	    <param name="subscribe_depth" type="bool" value="false"/>        <!-- must be false for appearance-based mode -->
+        <param name="subscribe_laserScan" type="bool" value="false"/>    <!-- must be false for appearance-based mode -->
+        <param name="queue_size" type="int" value="10"/>
+    
+        <remap from="rgb/image" to="/image"/>                             <!-- connect to "image" topic of the camera below -->
+      
+		<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
+	    <param name="RGBD/Enabled" type="string" value="false"/>          <!-- False: appearance-based -->
+	    <param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/>  <!-- Database used for localization -->
+		<param name="Rtabmap/ImageBufferSize" type="string" value="0"/>   <!-- process all images -->
+		<param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do fast detection on localization -->
+		<param name="Mem/STMSize" type="string" value="1"/>               <!-- 1 location in short-term memory -->
+		<param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- false = Localization mode-->
+	</node>
+	
+	<!-- visualization of the "infoEx" topic sent by rtabmap node -->
+	<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen" args="-d $(find rtabmap)/launch/config/appearance_gui.ini">
+	    
+	    <!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
+	    <!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
+		<param name="camera_node_name" type="string" value="/camera"/>      
+		 
+	</node>
+  </group>
+  
+	<!-- uimage pkg is from the UtiLite stack : svn checkout http://utilite.googlecode.com/svn/trunk/ros-pkg utilite -->
+	<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
+	<node name="camera" pkg="rtabmap" type="camera" output="screen">
+		<remap from="image" to="image"/>
+		<param name="device_id" value="0" type="int"/>
+		<param name="video_or_images_path" value="$(find rtabmap)/data" type="string"/>
+		<param name="frame_rate" value="2.0" type="double"/>
+		<param name="width" value="0" type="int"/>
+		<param name="height" value="0" type="int"/>
+		<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
+	</node>
+</launch>
@@ -0,0 +1,48 @@
+<launch>
+	
+	<!-- APPEARANCE-BASED LOOP CLOSURE DETECTION VERSION -->
+	<!-- WARNING : Database is automatically deleted on each startup -->
+	<!--           See "delete_db_on_start" option below... -->
+
+  <group ns="rtabmap">
+	<!-- args: "delete_db_on_start" and "udebug" -->
+	<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
+	
+	    <param name="subscribe_depth" type="bool" value="false"/>        <!-- must be false for appearance-based mode -->
+        <param name="subscribe_laserScan" type="bool" value="false"/>    <!-- must be false for appearance-based mode -->
+        <param name="queue_size" type="int" value="10"/>
+    
+        <remap from="rgb/image" to="/image"/>                             <!-- connect to "image" topic of the camera below -->
+      
+		<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
+	    <param name="RGBD/Enabled" type="string" value="false"/>          <!-- False: appearance-based -->
+		<param name="Rtabmap/ImageBufferSize" type="string" value="0"/>   <!-- process all images -->
+		<param name="Rtabmap/DetectionRate" type="string" value="0"/>     <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
+		<param name="Mem/RehearsalSimilarity" type="string" value="0.4"/> <!-- 40% -->
+		<param name="Mem/STMSize" type="string" value="15"/>              <!-- 15 locations in short-term memory -->
+		<param name="Mem/IncrementalMemory" type="string" value="true"/>  <!-- true = SLAM mode -->
+		<param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/>  <!-- On merging, update to new ID-->
+	</node>
+	
+	<!-- visualization of the "infoEx" topic sent by rtabmap node -->
+	<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen" args="-d $(find rtabmap)/launch/config/appearance_gui.ini">
+	    
+	    <!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
+	    <!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
+		<param name="camera_node_name" type="string" value="/camera"/>      
+		 
+	</node>
+  </group>
+  
+	<!-- uimage pkg is from the UtiLite stack : svn checkout http://utilite.googlecode.com/svn/trunk/ros-pkg utilite -->
+	<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
+	<node name="camera" pkg="rtabmap" type="camera" output="screen">
+		<remap from="image" to="image"/>
+		<param name="device_id" value="0" type="int"/>
+		<param name="video_or_images_path" value="$(find rtabmap)/data" type="string"/>
+		<param name="frame_rate" value="2.0" type="double"/>
+		<param name="width" value="0" type="int"/>
+		<param name="height" value="0" type="int"/>
+		<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
+	</node>
+</launch>
@@ -0,0 +1,31 @@
+
+<launch>
+
+  <!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
+  <!-- This demo works with demo_mapping.bag -->
+
+  <param name="use_sim_time" type="bool" value="True"/>
+
+  <node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
+	<param name="output_file_name" value="output.db" type="string"/>  
+	
+	<param name="frame_id" type="string" value="base_footprint"/>
+	
+	<param name="subscribe_odometry" type="bool" value="true"/>
+	<param name="subscribe_depth" type="bool" value="true"/>
+	<param name="subscribe_laserScan" type="bool" value="true"/>
+	
+	<remap from="odom" to="/az3/base_controller/odom"/>
+	<remap from="scan" to="/jn0/base_scan"/>
+
+	<remap from="rgb/image" to="data_throttled_image"/>
+  	<remap from="depth/image" to="data_throttled_image_depth"/>
+  	<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
+  	
+  	<param name="rgb/image_transport" type="string" value="compressed"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+	
+	<param name="queue_size" type="int" value="10"/>
+  </node>
+
+</launch>
@@ -0,0 +1,55 @@
+
+<launch>
+
+   <!-- ROBOT LOCALIZATION VERSION: use this with ROS bag demo_mapping.bag -->
+   <!-- A database "~/.ros/rtabmap.db" must be already created from -->
+   <!-- the "demo_robot_mapping.launch" demo -->
+   <!-- Once RTAB-Map GUI stated, you can do "Edit->Download Map" to get all the map in the GUI -->
+   
+  <param name="use_sim_time" type="bool" value="True"/>
+
+  <!-- SLAM (robot side) -->
+  <!-- args: "delete_db_on_start" and "udebug" -->
+  <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
+	<param name="frame_id" type="string" value="base_footprint"/>
+	
+	<param name="subscribe_depth" type="bool" value="true"/>
+	<param name="subscribe_laserScan" type="bool" value="true"/>
+	
+	<remap from="odom" to="/az3/base_controller/odom"/>
+	<remap from="scan" to="/jn0/base_scan"/>
+
+	<remap from="rgb/image" to="data_throttled_image"/>
+  	<remap from="depth/image" to="data_throttled_image_depth"/>
+  	<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
+  	
+  	<param name="rgb/image_transport" type="string" value="compressed"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+	
+	<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="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/>  <!-- Database used for localization -->
+    <param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
+    <param name="Mem/STMSize" type="string" value="1"/>               <!-- 1 location in short-term memory -->
+    <param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- false = Localization mode-->
+  </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"/>
+      <param name="subscribe_laserScan" type="bool" value="true"/>
+      <param name="queue_size" type="int" value="10"/>
+      <param name="frame_id" type="string" value="base_footprint"/>
+    
+      <remap from="rgb/image" to="data_throttled_image"/>
+      <remap from="depth/image" to="data_throttled_image_depth"/>
+      <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"/>
+      
+      <param name="rgb/image_transport" type="string" value="compressed"/>
+      <param name="depth/image_transport" type="string" value="compressedDepth"/>
+  </node>
+
+</launch>
@@ -0,0 +1,53 @@
+
+<launch>
+
+   <!-- ROBOT MAPPING VERSION: use this with ROS bag demo_mapping.bag -->
+   <!-- WARNING : Database is automatically deleted on each startup -->
+   <!--           See "delete_db_on_start" option below... -->
+
+  <param name="use_sim_time" type="bool" value="True"/>
+
+  <!-- SLAM (robot side) -->
+  <!-- args: "delete_db_on_start" and "udebug" -->
+  <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"/>
+	<param name="subscribe_laserScan" type="bool" value="true"/>
+	
+	<remap from="odom" to="/az3/base_controller/odom"/>
+	<remap from="scan" to="/jn0/base_scan"/>
+
+	<remap from="rgb/image" to="data_throttled_image"/>
+  	<remap from="depth/image" to="data_throttled_image_depth"/>
+  	<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
+  	
+  	<param name="rgb/image_transport" type="string" value="compressed"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+	
+	<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/LocalLoopDetectionSpace" type="string" value="true"/>  <!-- Laser scan matching when near (using estimated position) old locations in WM -->
+	<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>  <!-- Don't find loop closures in time (i.e. with locations in STM) -->
+  </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"/>
+      <param name="subscribe_laserScan" type="bool" value="true"/>
+      <param name="queue_size" type="int" value="10"/>
+      <param name="frame_id" type="string" value="base_footprint"/>
+    
+      <remap from="rgb/image" to="data_throttled_image"/>
+      <remap from="depth/image" to="data_throttled_image_depth"/>
+      <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"/>
+      
+      <param name="rgb/image_transport" type="string" value="compressed"/>
+      <param name="depth/image_transport" type="string" value="compressedDepth"/>
+  </node>
+
+</launch>
@@ -0,0 +1,64 @@
+
+<launch>
+
+   <!-- ROBOT MAPPING VERSION: use this with ROS bag demo_mapping.bag -->
+   <!-- WARNING : Database is automatically deleted on each startup -->
+   <!--           See "delete_db_on_start" option below... -->
+
+  <param name="use_sim_time" type="bool" value="True"/>
+
+  <!-- SLAM (robot side) -->
+  <!-- args: "delete_db_on_start" and "udebug" -->
+  <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"/>
+	<param name="subscribe_laserScan" type="bool" value="true"/>
+	
+	<remap from="odom" to="/az3/base_controller/odom"/>
+	<remap from="scan" to="/jn0/base_scan"/>
+
+	<remap from="rgb/image" to="data_throttled_image"/>
+  	<remap from="depth/image" to="data_throttled_image_depth"/>
+  	<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
+  	
+  	<param name="rgb/image_transport" type="string" value="compressed"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+	
+	<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/LocalLoopDetectionSpace" type="string" value="true"/>  <!-- Laser scan matching when near (using estimated position) old locations in WM -->
+	<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>  <!-- Don't find loop closures in time (i.e. with locations in STM) -->
+  </node>
+  
+  <!-- Visualisation -->
+  
+  <!-- Map assembler for rviz-->
+  <node pkg="rtabmap" type="map_assembler" name="map_assembler"  output="screen" args="">
+    <param name="cloud_decimation" type="int" value="4"/>
+    <param name="cloud_voxel_size" type="double" value="0.02"/>
+    <param name="scan_voxel_size" type="double" value="0.01"/>
+  </node>
+  
+  <!-- Grid map assembler for rviz -->
+  <node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
+    
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
+  
+  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
+   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
+    <remap from="rgb/image"       to="data_throttled_image"/>
+    <remap from="depth/image"     to="data_throttled_image_depth"/>
+    <remap from="rgb/camera_info" to="data_throttled_camera_info"/>
+    <remap from="cloud"           to="voxel_cloud" />
+    
+    <param name="rgb/image_transport" type="string" value="compressed"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+    
+    <param name="queue_size" type="int" value="10"/>
+    <param name="voxel_size" type="double" value="0.01"/>
+  </node>
+
+</launch>
@@ -0,0 +1,23 @@
+<!-- Default frames for Kinect/PSDK5 devices
+     Places depth and RGB cameras in the same plane with 2.5cm baseline.
+     Calibration may improve results, but these defaults are reasonably accurate.
+-->
+<launch>
+  <arg name="camera" default="camera" />
+  <arg name="ns" default="" />
+
+  <arg name="pi/2" value="1.5707963267948966" />
+  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
+
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
+        args="0 -0.02  0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_depth_frame 100" />  
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
+        args="0 -0.045 0 0 0 0  $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_rgb_frame 100" />  
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
+        args="$(arg optical_rotate) $(arg ns)/$(arg camera)_depth_frame $(arg ns)/$(arg camera)_depth_optical_frame  100" />  
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
+        args="$(arg optical_rotate) $(arg ns)/$(arg camera)_rgb_frame $(arg ns)/$(arg camera)_rgb_optical_frame 100" />  
+</launch>
+
+<!-- TODO Could instead store these in camera_pose_calibration format for consistency
+     with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->
--- a/Show More
+++ b/Show More