i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

merged master

Browse Source
This commit is contained in:
matlabbe
2023-01-21 16:19:25 -08:00
parent c204ed6142
commit 72298712c9
91 changed files with 1092 additions and 1026 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/azimut3/az3_mapping_robot_kinect_scan.launch
+14 -13
View File
@@ -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>