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https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
added az3_remote_mapping launch files
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1563 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
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<launch>
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<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- OpenNI -->
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<!-- Xtion -->
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="depth_registration" value="True" />
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<arg name="rgb_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
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<arg name="depth_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
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</include>
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<!-- Xtion frame -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
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<!-- Throttling messages -->
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
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<param name="max_rate" type="double" value="5.0"/>
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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</node>
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</group>
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<!-- SLAM is done on client side...-->
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</launch>
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<launch>
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<!-- Remote teleop -->
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- Visualization and SLAM nodes use same data, so just subscribe once and relay messages -->
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<node name="odom_relay" type="relay" pkg="topic_tools" args="/base_controller/odom /base_controller/odom_relay" >
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<param name="lazy" type="bool" value="false"/>
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</node>
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<node name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay" >
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<param name="lazy" type="bool" value="false"/>
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</node>
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<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay" >
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<param name="lazy" type="bool" value="false"/>
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</node>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
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<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" />
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<!-- SLAM client side -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<remap from="odom" to="/base_controller/odom_relay"/>
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<remap from="scan" to="/base_scan_relay"/>
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<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
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<param name="queue_size" type="int" value="10"/>
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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/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
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<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
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<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
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<param name="LccIcp2/Iterations" type="string" value="100"/>
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<param name="LccIcp2/VoxelSize" type="string" value="0"/>
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<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
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<param name="LccBow/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
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<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
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<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
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<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
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<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
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</node>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
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</group>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_remote.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
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<remap from="rgb/image_in" to="/camera/data_throttled_image_relay"/>
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<remap from="depth/image_in" to="/camera/data_throttled_image_depth_relay"/>
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<remap from="rgb/camera_info_in" to="/camera/data_throttled_camera_info_relay"/>
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<remap from="odom_in" to="/base_controller/odom_relay"/>
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<remap from="rgb/image_out" to="data_odom_sync/image"/>
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<remap from="depth/image_out" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
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<remap from="odom_out" to="odom_sync"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_odom_sync/image"/>
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<remap from="depth/image" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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