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matlabbe
2023-01-21 16:19:25 -08:00
parent c204ed6142
commit 72298712c9
91 changed files with 1092 additions and 1026 deletions
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launch/azimut3/az3_bag_mapping.launch
+9 -8
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -8,22 +9,22 @@
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" 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="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<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="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"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
@@ -39,10 +40,10 @@
<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="Mem/RehearsedNodesKept" type="string" value="false"/>
</node>
</group>
</group>
<!-- send AZIMUT 3 urdf to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
launch/azimut3/az3_bag_record.launch
+6 -5
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@@ -1,7 +1,8 @@
<?xml version="1.0"?>
<launch>
<!-- rosbag record camera/data_throttled_image/compressed camera/data_throttled_image_depth/compressedDepth camera/data_throttled_camera_info tf base_scan /base_controller/odom -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- To control with only one joystick -->
@@ -17,20 +18,20 @@
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="10.0"/>
<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>
</node>
</group>
</launch>
launch/azimut3/az3_db_record.launch
+10 -9
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -8,38 +9,38 @@
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="10.0"/>
<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="rgb/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>
</node>
</group>
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
<param name="output_file_name" value="az3_record.db" type="string"/>
<param name="output_file_name" value="az3_record.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="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<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"/>
</node>
launch/azimut3/az3_mapping_client.launch
+4 -3
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -16,9 +17,9 @@
<remap from="mapData" to="rtabmap/mapData_relay"/>
<remap from="grid_map" to="rtabmap/grid_map"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
@@ -26,7 +27,7 @@
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
launch/azimut3/az3_mapping_client_stereo_nav.launch
+1
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
launch/azimut3/az3_mapping_robot.launch
+11 -10
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@@ -1,10 +1,11 @@
<?xml version="1.0"?>
<launch>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
@@ -12,35 +13,35 @@
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="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>
</node>
</group>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" 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="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<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/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
@@ -56,7 +57,7 @@
<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="Mem/RehearsedNodesKept" type="string" value="false"/>
</node>
</group>
</launch>
launch/azimut3/az3_mapping_robot_kinect_odom.launch
+10 -9
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@@ -1,10 +1,11 @@
<?xml version="1.0"?>
<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 -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
@@ -12,16 +13,16 @@
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="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>
</node>
</group>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
@@ -29,14 +30,14 @@
<node name="rtabmap" pkg="rtabmap_ros" 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) -->
@@ -44,7 +45,7 @@
<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="Mem/RehearsedNodesKept" type="string" value="false"/>
</node>
</group>
</launch>
launch/azimut3/az3_mapping_robot_kinect_only.launch
+2 -1
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -19,7 +20,7 @@
<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="Odom/InlierDistance" type="string" value="0.01"/>
<param name="frame_id" type="string" value="base_footprint"/>
</node>
launch/azimut3/az3_mapping_robot_kinect_scan.launch
+14 -13
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -6,7 +7,7 @@
<!-- AZIMUT 3 bringup: launch motors/odometry -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
@@ -23,7 +24,7 @@
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="goal_out" to="current_goal"/>
<remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<remap from="grid_map" to="/map"/>
@@ -31,8 +32,8 @@
<param unless="$(arg localization)" name="Rtabmap/TimeThr" type="string" value="500"/>
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param if="$(arg localization)" name="Mem/InitWMWithAllNodes" type="string" value="true"/>
<param name="RGBD/PoseScanMatching" type="string" value="true"/>
<param name="RGBD/LocalRadius" type="string" value="4"/>
<param name="RGBD/PoseScanMatching" type="string" value="true"/>
<param name="RGBD/LocalRadius" type="string" value="4"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/OptimizeSlam2d" type="string" value="true"/>
@@ -44,7 +45,7 @@
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.2"/>
</node>
</group>
<!-- teleop -->
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
@@ -59,7 +60,7 @@
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
@@ -68,7 +69,7 @@
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
@@ -81,7 +82,7 @@
args="/cmd_eta /teleop/cmd_eta"/>
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
args="/cmd_vel /planner/cmd_vel"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
@@ -90,7 +91,7 @@
<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="throttled_image"/>
<remap from="depth/image_out" to="throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="throttled_camera_info"/>
@@ -106,26 +107,26 @@
<param name="max_depth" type="double" value="4.0"/>
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection obstacle_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.4"/>
<param name="ground_normal_angle" type="double" value="0.1"/>
</node>
<!-- scan from the camera -->
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager">
<remap from="image" to="depth_registered/image_raw"/>
<remap from="camera_info" to="depth_registered/camera_info"/>
<remap from="scan" to="/kinect_scan"/>
<param name="range_max" type="double" value="4"/>
</node>
</node>
</group>
</launch>
launch/azimut3/az3_mapping_robot_stereo_nav.launch
+19 -18
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
<!-- "Disable" wheel odometry from azimut3 -->
@@ -9,7 +10,7 @@
<!-- AZIMUT 3 bringup: launch motors and TF -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
<remap from="joy" to="/joy"/>
@@ -23,7 +24,7 @@
<remap from="base_scan" to="/base_scan"/>
<remap from="map" to="/rtabmap/proj_map"/>
<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="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
@@ -31,7 +32,7 @@
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
@@ -44,7 +45,7 @@
args="/cmd_eta /teleop/cmd_eta"/>
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
args="/cmd_vel /planner/cmd_vel"/>
<!-- Stereo camera -->
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
<param name="video_mode" value="format7_mode3" />
@@ -55,15 +56,15 @@
<param name="camera_info_url_left" value="" />
<param name="camera_info_url_right" value="" />
</node>
<!-- TF transforms for the stereo camera -->
<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="stereo_camera_base_link"
args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_stereo_camera_base_link"
args="0.01 0.06 0.90 0 0.37 0 base_link stereo_camera_base 100" />
args="0.01 0.06 0.90 0 0.37 0 base_link stereo_camera_base 100" />
<!-- Run the ROS package stereo_image_proc for image rectification-->
<group ns="/stereo_camera" >
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
@@ -74,11 +75,11 @@
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="rate" type="double" value="20"/>
</node>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
@@ -86,13 +87,13 @@
<remap from="right/camera_info" to="right/camera_info_throttle"/>
<param name="disparity_range" value="128"/>
</node>
<!-- Create point cloud for the planner -->
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_ros/point_cloud_xyz stereo_nodelet">
<remap from="disparity/image" to="disparity"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
<remap from="cloud" to="cloudXYZ"/>
<param name="voxel_size" type="double" value="0.05"/>
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
@@ -101,14 +102,14 @@
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/planner_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.0"/>
</node>
</group>
<!-- Visual Odometry -->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
@@ -124,12 +125,12 @@
<param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="GFTT/MaxCorners" type="string" value="500"/>
<param name="GFTT/MinDistance" type="string" value="5"/>
</node>
<group ns="rtabmap">
<group ns="rtabmap">
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
@@ -148,7 +149,7 @@
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
@@ -162,5 +163,5 @@
<param name="LccReextract/MaxWords" type="string" value="500"/>
</node>
</group>
</launch>
launch/azimut3/az3_nav.launch
+22 -21
View File
@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -30,24 +31,24 @@
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="goal_out" to="current_goal"/>
<remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters -->
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
<param name="RGBD/LocalRadius" type="string" value="5"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Mem/ImagePostDecimation" type="string" value="4"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -56,16 +57,16 @@
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Optimizer/Strategy" type="string" value="0"/>
<param name="Optimizer/Strategy" type="string" value="0"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/MaxFeatures" type="string" value="200"/>
<param name="SURF/HessianThreshold" type="string" value="500"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="5"/>
<param name="Vis/MinInliers" type="string" value="5"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
@@ -73,7 +74,7 @@
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
</group>
<!-- teleop -->
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
@@ -97,7 +98,7 @@
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
@@ -110,17 +111,17 @@
args="/cmd_eta /teleop/cmd_eta"/>
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
args="/cmd_vel /planner/cmd_vel"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="5"/>
<param name="decimation" type="int" value="2"/>
<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_resized_image"/>
<remap from="depth/image_out" to="data_resized_image_depth"/>
<remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
@@ -135,17 +136,17 @@
<param name="max_depth" type="double" value="3.0"/>
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.4"/>
</node>
</node>
</group>
</launch>
launch/azimut3/az3_nav_client.launch
+8 -7
View File
@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -5,7 +6,7 @@
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="sub_data" default="false"/>
<!-- use a relay on this machine -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay">
<param name="lazy" type="bool" value="true"/>
@@ -13,10 +14,10 @@
<node if="$(arg sub_data)" name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay">
<param name="lazy" type="bool" value="true"/>
</node>
<node if="$(arg sub_data)" name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_resized_image raw out:=/camera/data_resized_image_relay" />
<node if="$(arg sub_data)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_resized_image_depth raw out:=/camera/data_resized_image_depth_relay" />
<node if="$(arg sub_data)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/data_resized_image_relay"/>
<remap from="depth/image" to="/camera/data_resized_image_depth_relay"/>
@@ -24,24 +25,24 @@
<remap from="cloud" to="/voxel_cloud" />
</node>
<group ns="rtabmap">
<group ns="rtabmap">
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="mapData" to="mapData_relay"/>
<param name="subscribe_depth" type="bool" value="$(arg sub_data)"/>
<remap from="rgb/image" to="/camera/data_resized_image_relay"/>
<remap from="depth/image" to="/camera/data_resized_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_resized_camera_info"/>
<param name="subscribe_laserScan" type="bool" value="$(arg sub_data)"/>
<remap from="scan" to="/base_scan_relay"/>
</node>
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
</launch>
launch/azimut3/az3_nav_kinect-only.launch
+5 -4
View File
@@ -1,11 +1,12 @@
<?xml version="1.0"?>
<launch>
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<!-- "Disable" odometry from azimut3 -->
<group ns="base_controller">
<param name="odom_frame_id" type="string" value="az3_odom"/>
@@ -29,8 +30,8 @@
<param name="Vis/MinInliers" type="string" value="10"/>
<param name="Vis/InlierDistance" type="string" value="0.1"/>
<param name="Vis/MaxDepth" type="string" value="4"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="4"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
</node>
launch/azimut3/az3_nav_kinect_odom.launch
+24 -23
View File
@@ -1,10 +1,11 @@
<?xml version="1.0"?>
<launch>
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
@@ -30,24 +31,24 @@
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="goal_out" to="current_goal"/>
<remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<remap from="proj_map" to="/map"/>
<!-- RTAB-Map's parameters -->
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="0"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
<param name="Reg/Strategy" type="string" value="0"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
<param name="RGBD/LocalRadius" type="string" value="5"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Mem/ImageDecimation" type="string" value="1"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -63,7 +64,7 @@
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Optimizer/Iterations" type="string" value="100"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Optimizer/Strategy" type="string" value="1"/>
<param name="Optimizer/Strategy" type="string" value="1"/>
<param name="Optimizer/Robust" type="string" value="false"/>
<param name="Optimizer/VarianceIgnored" type="string" value="true"/>
<param name="RGBD/PlanStuckIterations" type="string" value="10"/>
@@ -72,14 +73,14 @@
<param name="Kp/MaxFeatures" type="string" value="300"/>
<param name="SURF/HessianThreshold" type="string" value="500"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
</group>
<!-- teleop -->
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
@@ -95,8 +96,8 @@
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
<arg name="observation_sources" value="point_cloud_sensorA point_cloud_sensorB"/>
<arg name="observation_sources" value="point_cloud_sensorA point_cloud_sensorB"/>
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
@@ -107,7 +108,7 @@
<param name="global_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
<param name="local_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
@@ -120,17 +121,17 @@
args="/cmd_eta /teleop/cmd_eta"/>
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
args="/cmd_vel /planner/cmd_vel"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="5"/>
<param name="decimation" type="int" value="2"/>
<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_resized_image"/>
<remap from="depth/image_out" to="data_resized_image_depth"/>
<remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
@@ -145,17 +146,17 @@
<param name="max_depth" type="double" value="3.0"/>
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.4"/>
</node>
</node>
</group>
</launch>
launch/azimut3/az3_openni.launch
+2 -1
View File
@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -14,5 +15,5 @@
<!-- Xtion frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.057 0.087 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
</launch>
launch/azimut3/az3_remote_find_object.launch
+2 -1
View File
@@ -1,10 +1,11 @@
<?xml version="1.0"?>
<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/azimut3/config/azimut3_find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
<remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
<remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
<remap from="depth_registered/camera_info" to="camera/data_throttled_camera_info_relay"/>
launch/azimut3/az3_remote_mapping_robot.launch
+6 -5
View File
@@ -1,10 +1,11 @@
<?xml version="1.0"?>
<launch>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
@@ -12,16 +13,16 @@
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="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>
</node>
</group>
<!-- SLAM is done on client side...-->
</launch>
launch/azimut3/az3_remote_mapping_rviz.launch
+13 -12
View File
@@ -1,9 +1,10 @@
<?xml version="1.0"?>
<launch>
<!-- Remote teleop -->
<include file="$(find az3_bringup)/joystick.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- Visualization and SLAM nodes use same data, so just subscribe once and relay messages -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
<node name="odom_relay" type="relay" pkg="topic_tools" args="/base_controller/odom /base_controller/odom_relay"/>
@@ -11,25 +12,25 @@
<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
<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" />
<!-- SLAM client side -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" 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="/base_controller/odom_relay"/>
<remap from="scan" to="/base_scan_relay"/>
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
<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"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
@@ -45,15 +46,15 @@
<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="Mem/RehearsedNodesKept" type="string" value="false"/>
</node>
<!-- Grid map assembler for rviz -->
<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/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"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
@@ -61,7 +62,7 @@
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
launch/azimut3/config/base_local_planner_params.yaml
+3 -3
View File
@@ -5,7 +5,7 @@ TrajectoryPlannerROS:
acc_lim_y: 0.75
acc_lim_theta: 4
# min_vel_x and max_rotational_vel were set to keep the ICR at
# minimal distance of 0.48 m.
# minimal distance of 0.48 m.
# Basically, max_rotational_vel * rho_min <= min_vel_x
max_vel_x: 0.5
min_vel_x: 0.24
@@ -17,7 +17,7 @@ TrajectoryPlannerROS:
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
latch_xy_goal_tolerance: true
# make sure that the minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.
sim_time: 1.5 # set between 1 and 2. The higher he value, the smoother the path (though more samples would be required).
sim_granularity: 0.025
@@ -35,7 +35,7 @@ TrajectoryPlannerROS:
#move_base
controller_frequency: 10.0 #The robot can move faster when higher.
#global planner
#global planner
NavfnROS:
allow_unknown: true
visualize_potential: false
launch/azimut3/config/local_costmap_params_2d.yaml
+9 -9
View File
@@ -18,23 +18,23 @@ obstacle_layer:
raytrace_range: 3.0
max_obstacle_height: 0.4
track_unknown_space: true
observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB
laser_scan_sensor: {
data_type: LaserScan,
topic: base_scan,
expected_update_rate: 0.2,
marking: true,
data_type: LaserScan,
topic: base_scan,
expected_update_rate: 0.2,
marking: true,
clearing: true
}
point_cloud_sensorA: {
sensor_frame: base_footprint,
data_type: PointCloud2,
topic: obstacles_cloud,
expected_update_rate: 0.5,
marking: true,
data_type: PointCloud2,
topic: obstacles_cloud,
expected_update_rate: 0.5,
marking: true,
clearing: true,
min_obstacle_height: 0.04
}
launch/azimut3/config/local_costmap_params_3d.yaml
+8 -8
View File
@@ -15,19 +15,19 @@ local_costmap:
observation_sources: point_cloud_sensor
laser_scan_sensor: {
data_type: LaserScan,
topic: base_scan,
expected_update_rate: 0.2,
marking: true,
data_type: LaserScan,
topic: base_scan,
expected_update_rate: 0.2,
marking: true,
clearing: true}
# assuming receiving a cloud from rtabmap/obstacles_detection node
point_cloud_sensor: {
sensor_frame: base_footprint,
data_type: PointCloud2,
topic: openni_points,
expected_update_rate: 0.5,
marking: true,
data_type: PointCloud2,
topic: openni_points,
expected_update_rate: 0.5,
marking: true,
clearing: true,
min_obstacle_height: -99999.0,
max_obstacle_height: 0.5}