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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/demo/demo_appearance_mapping.launch
+12 -11
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@@ -1,5 +1,6 @@
<?xml version="1.0"?>
<launch>
<!-- APPEARANCE-BASED LOOP CLOSURE DETECTION VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
@@ -12,14 +13,14 @@
<group ns="rtabmap">
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="subscribe_rgb" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_odom" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="queue_size" type="int" value="10"/>
<remap from="rgb/image" to="/image"/> <!-- connect to "image" topic of the camera below -->
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/Enabled" type="string" value="false"/> <!-- False: appearance-based -->
<param name="Rtabmap/ImageBufferSize" type="string" value="0"/> <!-- process all images -->
@@ -31,28 +32,28 @@
<param name="Mem/UseOdomFeatures" type="string" value="false"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="SURF/HessianThreshold" type="string" value="100"/>
<!-- localization mode -->
<param if="$(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)"/>
</node>
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="-d $(find rtabmap_ros)/launch/config/appearance_gui.ini">
<param name="subscribe_odom" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<!-- This enables the GUI to pause a rtabmap_ros/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap_ros/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<param name="camera_node_name" type="string" value="/camera"/>
<param name="camera_node_name" type="string" value="/camera"/>
</node>
</group>
<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
<node name="camera" pkg="rtabmap_ros" type="camera" output="screen">
<remap from="image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap_ros)/launch/data/demo_appearance" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
launch/demo/demo_catvehicle_mapping.launch
+15 -14
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@@ -1,12 +1,13 @@
<?xml version="1.0"?>
<?xml version="1.0"?>
<launch>
<!-- 1) Make sure rtabmap is built with libpointmatcher for lidar:=true option (lidar SLAM)
2) Install https://github.com/jmscslgroup/catvehicle
We need a stereo camera and velodyne point cloud looking like the real
sensor (ring-like pattern), so we have to modifiy the default catvehicle
urdf. First we have to install velodyne_simulator package to have the
right gazebo plugin and copy this modified velodyne config:
We need a stereo camera and velodyne point cloud looking like the real
sensor (ring-like pattern), so we have to modifiy the default catvehicle
urdf. First we have to install velodyne_simulator package to have the
right gazebo plugin and copy this modified velodyne config:
* sudo apt install ros-$ROS_DISTRO-velodyne-simulator
* cp ~/catkin_ws/src/rtabmap_ros/launch/config/catvehicle_velodyne_points.gazebo ~/catkin_ws/src/catvehicle/urdf/.
Secondly, we have to modify the triclops config to make it stereo:
@@ -18,14 +19,14 @@
4) roslaunch catvehicle catvehicle_spawn.launch velodyne_points:=true triclops:=true Z:=5
5) roslaunch catvehicle joystick.launch
6) SLAM, 3 choices:
A) LiDAR-SLAM + Visual loop closure detection:
A) LiDAR-SLAM + Visual loop closure detection:
roslaunch rtabmap_ros demo_catvehicle_mapping.launch
B) LiDAR-SLAM without camera:
B) LiDAR-SLAM without camera:
roslaunch rtabmap_ros demo_catvehicle_mapping.launch camera:=false
C) Visual-SLAM without lidar:
C) Visual-SLAM without lidar:
roslaunch rtabmap_ros demo_catvehicle_mapping.launch lidar:=false
Note: Gazebo real-time factor should be equal or below 1. If it is over 1,
Note: Gazebo real-time factor should be equal or below 1. If it is over 1,
in gazebo client, select Physics, then change real time update rate to 500.
-->
<arg name="camera" default="true" />
@@ -34,7 +35,7 @@
<arg name="rtabmapviz" default="true" />
<arg name="rviz" default="true" />
<arg name="light" default="false" /> <!-- Don't record all scans if false -->
<arg name="altitude" default="0" /> <!-- assemble occupancy grids by altitude (radius in meters, 0=disabled) -->
<arg name="altitude" default="0" /> <!-- assemble occupancy grids by altitude (radius in meters, 0=disabled) -->
<arg name="localization" default="false" />
<!-- Common parameters -->
@@ -77,7 +78,7 @@
<!-- LiDAR SLAM parameters -->
<arg if="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
--Reg/Strategy 1"/>
<!-- Visual SLAM parameters -->
<arg unless="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
--Reg/Strategy 0
@@ -85,7 +86,7 @@
--Grid/MaxGroundHeight 0.7
--Grid/NoiseFilteringRadius 0.5"/>
<arg name="localization" value="$(arg localization)"/>
<arg name="localization" value="$(arg localization)"/>
<arg name="subscribe_scan_cloud" value="$(arg lidar)"/>
<arg name="stereo" value="$(arg camera)"/>
<arg unless="$(arg camera)" name="depth" value="false"/>
@@ -95,13 +96,13 @@
<arg if="$(arg lidar)" name="odom_topic" value="lidar_odom"/>
<arg unless="$(arg lidar)" name="odom_topic" value="visual_odom"/>
<arg name="odom_guess_frame_id" value="catvehicle/odom"/>
<arg name="frame_id" value="catvehicle/base_link"/>
<arg name="map_frame_id" value="catvehicle/map"/>
<arg if="$(arg lidar)" name="vo_frame_id" value="catvehicle/lidar_odom"/>
<arg unless="$(arg lidar)" name="vo_frame_id" value="catvehicle/visual_odom"/>
<arg name="stereo_namespace" value="/catvehicle/triclops"/>
<arg name="right_image_topic" value="/catvehicle/triclops/right/image_rect_color"/>
<arg name="scan_cloud_topic" value="/catvehicle/velodyne_points"/>
@@ -121,4 +122,4 @@
</include>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/catvehicle.rviz"/>
</launch>
</launch>
launch/demo/demo_data_recorder.launch
+7 -6
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -5,26 +6,26 @@
<!-- This demo works with demo_mapping.bag -->
<param name="use_sim_time" type="bool" value="True"/>
<include file="$(find rtabmap_ros)/launch/data_recorder.launch">
<arg name="subscribe_odometry" value="true"/>
<arg name="subscribe_depth" value="true"/>
<arg name="subscribe_stereo" value="false"/>
<arg name="subscribe_scan" value="true"/>
<arg name="frame_id" value="base_footprint"/>
<arg name="odom_frame_id" value=""/> <!-- use topic when not set, otherwise use TF if set -->
<arg name="output_path" value="output.db"/>
<arg name="record_in_RAM" value="false"/>
<arg name="queue_size" value="10"/>
<arg name="max_rate" value="0"/>
<arg name="odom_topic" value="/az3/base_controller/odom"/>
<arg name="scan_topic" value="/jn0/base_scan"/>
</include>
<!-- uncompress image data -->
<!-- uncompress image data -->
<node name="cameraInfo_relay" type="relay" pkg="topic_tools" args="/data_throttled_camera_info /camera/rgb/camera_info"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=/data_throttled_image raw out:=/camera/rgb/image_rect_color" />
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/data_throttled_image_depth raw out:=/camera/depth_registered/image_raw" />
launch/demo/demo_find_object.launch
+23 -22
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@@ -1,9 +1,10 @@
<?xml version="1.0"?>
<launch>
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="rtabmapviz" default="false" />
<arg name="save_objects" default="false"/>
<arg name="localization" default="false"/>
<arg name="save_objects_as_landmarks" default="false"/> <!-- apriltag_ros package should be installed and rtabmap_ros built with it -->
@@ -11,16 +12,16 @@
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<param name="use_sim_time" type="bool" value="True"/>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap if="$(arg save_objects)" from="user_data_async" to="/objectsData"/>
@@ -28,14 +29,14 @@
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<param name="landmark_linear_variance" type="double" value="0.1"/>
<param name="landmark_angular_variance" type="double" value="0.5"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Proximity detection (using estimated position) with locations in WM -->
@@ -53,45 +54,45 @@
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</group>
</group>
<!-- send AZIMUT 3 urdf to param server -->
<!--
<!--
<param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
-->
<!-- Visualisation -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_find_object.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
@@ -102,7 +103,7 @@
<param name="settings_path" value="$(find rtabmap_ros)/launch/config/find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
<remap from="rgb/image_rect_color" to="/camera/data_throttled_image"/>
<remap from="depth_registered/image_raw" to="/camera/data_throttled_image_depth"/>
<remap from="depth_registered/camera_info" to="/camera/data_throttled_camera_info"/>
@@ -110,13 +111,13 @@
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth_registered/image_transport" type="string" value="compressedDepth"/>
</node>
<!-- Save objects to database example -->
<node if="$(arg save_objects)" name="save_objects_example" pkg="rtabmap_ros" type="save_objects_example" output="screen">
<remap from="mapData" to="/rtabmap/mapData"/>
<param name="frame_id" value="base_footprint"/>
</node>
<!-- Convert objects to tags -->
<node if="$(arg save_objects_as_landmarks)" name="objects_to_tags" pkg="rtabmap_ros" type="objects_to_tags.py" output="screen">
<remap from="tag_detections" to="/rtabmap/tag_detections"/>
launch/demo/demo_hector_mapping.launch
+23 -22
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@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<!-- -->
<launch>
@@ -6,11 +7,11 @@
<!-- rosbag filter demo_mapping.bag demo_mapping_no_odom.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom"' -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<!-- Choose hector_slam or icp_odometry for odometry -->
<arg name="hector" default="true" />
@@ -21,19 +22,19 @@
<!-- Example with camera or not -->
<arg name="camera" default="true" />
<!-- Limit lidar range if > 0 (has effect only when hector:=false) -->
<arg name="max_range" default="0" />
<!-- Point to Plane ICP? (has effect only when hector:=false) -->
<arg name="p2n" default="true" />
<!-- Use libpointmatcher for ICP? (has effect only when hector:=false) -->
<arg name="pm" default="true" />
<param name="use_sim_time" type="bool" value="True"/>
<node if="$(arg hector)" pkg="tf" type="static_transform_publisher" name="scanmatcher_to_base_footprint"
<node if="$(arg hector)" pkg="tf" type="static_transform_publisher" name="scanmatcher_to_base_footprint"
args="0.0 0.0 0.0 0.0 0.0 0.0 /scanmatcher_frame /base_footprint 100" />
<!-- Odometry from laser scans -->
@@ -44,36 +45,36 @@
<param name="map_frame" value="hector_map" />
<param name="base_frame" value="base_footprint" />
<param name="odom_frame" value="odom" />
<!-- Tf use -->
<param name="pub_map_odom_transform" value="false"/>
<param name="pub_map_scanmatch_transform" value="true"/>
<param name="pub_odometry" value="true"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="2048"/>
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
<param name="map_update_angle_thresh" value="0.06" />
<!-- Advertising config -->
<!-- Advertising config -->
<param name="scan_topic" value="/jn0/base_scan"/>
</node>
<!-- If argument "hector" is false, we use rtabmap's icp odometry to generate odometry for us -->
<node unless="$(arg hector)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen" >
<remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/scanmatch_odom"/>
<remap from="odom_info" to="/rtabmap/odom_info"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="deskewing" type="string" value="true"/>
<param if="$(arg odom_guess)" name="odom_frame_id" type="string" value="icp_odom"/>
<param if="$(arg odom_guess)" name="guess_frame_id" type="string" value="odom"/>
<param name="Icp/VoxelSize" type="string" value="0.05"/>
<param name="Icp/RangeMax" type="string" value="$(arg max_range)"/>
<param name="Icp/Epsilon" type="string" value="0.001"/>
@@ -106,12 +107,12 @@
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="$(arg camera)"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="scan" to="/jn0/base_scan"/>
<!-- As hector doesn't provide compatible covariance in the odometry topic, don't use the topic and fix the covariance -->
@@ -121,7 +122,7 @@
<remap unless="$(arg hector)" from="odom" to="/scanmatch_odom"/>
<param unless="$(arg hector)" name="subscribe_odom_info" type="bool" value="true"/>
<!-- RTAB-Map's parameters -->
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Reg/Force3DoF" type="string" value="true"/>
@@ -131,13 +132,13 @@
<param name="Icp/RangeMax" type="string" value="$(arg max_range)"/>
<param name="Grid/RangeMax" type="string" value="$(arg max_range)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_rgbd" type="bool" value="$(arg camera)"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="scan" to="/jn0/base_scan"/>
<!-- As hector doesn't provide compatible covariance in the odometry topic -->
@@ -146,9 +147,9 @@
<remap unless="$(arg hector)" from="odom" to="/scanmatch_odom"/>
<param unless="$(arg hector)" name="subscribe_odom_info" type="bool" value="true"/>
</node>
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
launch/demo/demo_husky.launch
+47 -46
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@@ -1,51 +1,52 @@
<?xml version="1.0"?>
<!-- -->
<launch>
<!-- Bringup the Husky with SICK (2D LiDAR), realsense camera (RGB-D camera) and velodyne (3D LiDAR):
$ export HUSKY_URDF_EXTRAS=$(rospack find rtabmap_ros)/launch/config/husky_velodyne_extra.urdf.xacro
$ roslaunch husky_gazebo husky_playpen.launch realsense_enabled:=true
$ roslaunch husky_viz view_robot.launch
$ roslaunch husky_viz view_robot.launch
For ICP odometry examples, rtabmap should be built with libpointmatcher.
Examples:
1) 6DoF mapping with 3D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false
2) 6DoF mapping with 3D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true
3) 6DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true
4) 3DoF mapping with 3D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true
5) 3DoF mapping with 3D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true
6) 3DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true
7) 3DoF mapping with 2D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true
8) 3DoF mapping with 2D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true
9) 3DoF mapping with 2D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true icp_odometry:=true
10) 6DoF mapping with 3D LiDAR and RGB camera (depth generated by lidar projection) and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true depth_from_lidar:=true rtabmapviz:=true
11) 3DoF mapping with 3D LiDAR and RGB camera (depth generated by lidar projection) and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true depth_from_lidar:=true rtabmapviz:=true
Issues:
When setting icp_odometry:=true with navigation, sending a goal to move_base could cause errors like:
"Extrapolation Error: Lookup would require extrapolation into the future. Requested
time 1340.520000000 but the latest data is at time 1340.500000000, when looking up
"Extrapolation Error: Lookup would require extrapolation into the future. Requested
time 1340.520000000 but the latest data is at time 1340.500000000, when looking up
transform from frame [odom] to frame [map]"
To fix this change "global_frame: odom" to "global_frame: icp_odom" in "husky_navigation/config/costmap_local.yaml"
-->
@@ -60,36 +61,36 @@
<arg name="lidar3d_ray_tracing" default="true"/>
<arg name="slam2d" default="true"/>
<arg name="depth_from_lidar" default="false"/>
<arg if="$(arg lidar3d)" name="cell_size" default="0.3"/>
<arg unless="$(arg lidar3d)" name="cell_size" default="0.05"/>
<arg if="$(arg lidar2d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/MaxTranslation 1"/>
<arg if="$(arg lidar3d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--ICP/PM true
--Icp/PMOutlierRatio 0.7
--Icp/VoxelSize $(arg cell_size)
--Icp/MaxCorrespondenceDistance 1
--Icp/PointToPlaneGroundNormalsUp 0.9
--Icp/Iterations 10
--Icp/Epsilon 0.001
--OdomF2M/ScanSubtractRadius $(arg cell_size)
--OdomF2M/ScanMaxSize 15000
--Grid/ClusterRadius 1
--Grid/RangeMax 20
--Grid/RayTracing $(arg lidar3d_ray_tracing)
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/PointToPlaneNormalK 10
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--ICP/PM true
--Icp/PMOutlierRatio 0.7
--Icp/VoxelSize $(arg cell_size)
--Icp/MaxCorrespondenceDistance 1
--Icp/PointToPlaneGroundNormalsUp 0.9
--Icp/Iterations 10
--Icp/Epsilon 0.001
--OdomF2M/ScanSubtractRadius $(arg cell_size)
--OdomF2M/ScanMaxSize 15000
--Grid/ClusterRadius 1
--Grid/RangeMax 20
--Grid/RayTracing $(arg lidar3d_ray_tracing)
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/PointToPlaneNormalK 10
--Icp/MaxTranslation 1"/>
<!--- Run rtabmap -->
@@ -105,17 +106,17 @@
<arg name="frame_id" value="base_link" />
<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
<arg name="gps_topic" value="/navsat/fix"/>
<!-- 2D LiDAR -->
<arg name="subscribe_scan" value="$(arg lidar2d)" />
<arg if="$(arg lidar2d)" name="scan_topic" value="/scan" />
<arg unless="$(arg lidar2d)" name="scan_topic" value="/scan_not_used" />
<!-- 3D LiDAR -->
<arg name="subscribe_scan_cloud" value="$(arg lidar3d)" />
<arg if="$(arg lidar3d)" name="scan_cloud_topic" value="/velodyne_points" />
<arg unless="$(arg lidar3d)" name="scan_cloud_topic" value="/scan_cloud_not_used" />
<!-- If camera is used -->
<arg name="depth" value="$(eval camera and not depth_from_lidar)" />
<arg name="subscribe_rgb" value="$(eval camera)" />
@@ -124,14 +125,14 @@
<arg name="camera_info_topic" value="/realsense/color/camera_info" />
<arg name="depth_topic" value="/realsense/depth/image_rect_raw" />
<arg name="approx_rgbd_sync" value="false" />
<!-- If depth generated from lidar projection (in case we have only a single RGB camera with a 3D lidar) -->
<arg name="gen_depth" value="$(arg depth_from_lidar)" />
<arg name="gen_depth_decimation" value="4" />
<arg name="gen_depth_fill_holes_size" value="3" />
<arg name="gen_depth_fill_iterations" value="1" />
<arg name="gen_depth_fill_holes_error" value="0.3" />
<!-- If icp_odometry is used -->
<arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />
<arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />
launch/demo/demo_isaac_carter_navigation.launch
+7 -6
View File
@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<!-- -->
<launch>
<!-- For ref: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_ros_navigation.html#isaac-sim-app-tutorial-ros-navigation
@@ -18,7 +19,7 @@
-> verticalFov = 32
-> verticalResolution = 2
-> ROS_lidar -> pointCloudEnabled = True
Isaac Sim 2022 (Action Graph):
To enable all camera streams (right, depth left and depth right):
1. Stage view -> World-> Carter_ROS, right-click on ROS_Cameras -> Open graph
@@ -74,23 +75,23 @@
<arg name="use_sim_time" value="true"/>
<arg name="tag_linear_variance" value="0.1"/>
<arg name="tag_angular_variance" value="0.2"/>
<arg name="scan_cloud_assembling" value="$(arg lidar3d)"/>
<arg name="scan_cloud_assembling_fixed_frame" value="odom"/>
<arg name="scan_cloud_assembling_range_max" value="60"/>
<arg name="scan_cloud_assembling_voxel_size" value="$(arg cell_size)"/>
</include>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="TrajectoryPlannerROS/max_vel_theta" value="0.3"/>
<param name="TrajectoryPlannerROS/min_vel_theta" value="-0.3"/>
<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find carter_2dnav)/params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find carter_2dnav)/params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find carter_2dnav)/params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find carter_2dnav)/params/base_local_planner_params.yaml" command="load" />
</node>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find carter_2dnav)/rviz/carter_2dnav.rviz" />
</launch>
</launch>
launch/demo/demo_multi-session_mapping.launch
+20 -19
View File
@@ -1,8 +1,9 @@
<?xml version="1.0"?>
<launch>
<!-- MULTI-SESSION MAPPING VERSION -->
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
@@ -11,32 +12,32 @@
<param name="use_sim_time" type="bool" value="True"/>
<group ns="rtabmap">
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/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/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="false"/> <!-- Referred paper did only global loop closure detection -->
<param name="RGBD/ProximityByTime" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="RGBD/ProximityByTime" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Icp/Iterations" type="string" value="30"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
@@ -50,33 +51,33 @@
<param name="Bayes/FullPredictionUpdate" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/MaxFeatures" type="string" value="400"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="RGBD/OptimizeMaxError" type="string" value="0.25"/>
<param name="Optimizer/Strategy" type="string" value="0"/> <!-- TORO is the most stable for multi-session mapping -->
<param name="Optimizer/Iterations" type="string" value="100"/>
<param name="Optimizer/Iterations" type="string" value="100"/>
<param name="Kp/IncrementalFlann" type="string" value="false"/> <!-- Referred paper didn't use incremental FLANN -->
<param name="Grid/FromDepth" type="string" value="false"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
@@ -84,10 +85,10 @@
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
launch/demo/demo_robot_mapping.launch
+15 -14
View File
@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
@@ -7,10 +8,10 @@
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<arg name="rtabmapviz" default="true" />
<param name="use_sim_time" type="bool" value="True"/>
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
@@ -22,10 +23,10 @@
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<!-- As /az3/base_controller/odom topic doesn't provide covariances, we use TF to get odom and we fix the covariance -->
<param name="odom_frame_id" type="string" value="odom"/>
<param name="odom_tf_linear_variance" type="double" value="0.001"/>
@@ -36,10 +37,10 @@
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
@@ -58,31 +59,31 @@
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="0.15"/>
<param name="Icp/VoxelSize" type="string" value="0.05"/>
<!-- localization mode -->
<param if="$(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)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform" type="bool" value="true"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
@@ -90,10 +91,10 @@
<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/demo/demo_stereo_outdoor.launch
+28 -27
View File
@@ -1,27 +1,28 @@
<?xml version="1.0"?>
<launch>
<!--
Demo of outdoor stereo mapping.
From bag:
$ rosbag record
/stereo_camera/left/image_raw_throttle/compressed
/stereo_camera/right/image_raw_throttle/compressed
/stereo_camera/left/camera_info_throttle
/stereo_camera/right/camera_info_throttle
Demo of outdoor stereo mapping.
From bag:
$ rosbag record
/stereo_camera/left/image_raw_throttle/compressed
/stereo_camera/right/image_raw_throttle/compressed
/stereo_camera/left/camera_info_throttle
/stereo_camera/right/camera_info_throttle
/tf
$ roslaunch rtabmap demo_stereo_outdoor.launch
$ rosbag play -.-clock stereo_oudoorA.bag
-->
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="local_bundle" default="true" />
<arg name="stereo_sync" default="false" />
<param name="use_sim_time" type="bool" value="True"/>
<!-- Just to uncompress images for stereo_image_rect -->
<node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
<node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />
@@ -35,7 +36,7 @@
<remap from="right/camera_info" to="right/camera_info_throttle"/>
<param name="disparity_range" value="128"/>
</node>
<node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync">
<remap from="left/image_rect" to="left/image_rect_color"/>
<remap from="right/image_rect" to="right/image_rect"/>
@@ -43,10 +44,10 @@
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
</group>
<group ns="rtabmap">
<!-- Stereo Odometry -->
<group ns="rtabmap">
<!-- Stereo Odometry -->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
@@ -65,12 +66,12 @@
<param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Vis/MinInliers" type="string" value="10"/>
<param unless="$(arg local_bundle)" name="OdomF2M/BundleAdjustment" type="string" value="0"/>
<param name="OdomF2M/MaxSize" type="string" value="1000"/>
<param name="OdomF2M/MaxSize" type="string" value="1000"/>
<param name="GFTT/MinDistance" type="string" value="10"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
</node>
<!-- 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"/>
@@ -94,12 +95,12 @@
<param name="Grid/DepthDecimation" type="string" value="4"/>
<param name="Grid/FlatObstacleDetected" type="string" value="true"/>
<param name="Kp/MaxDepth" type="string" value="0"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="Vis/MaxDepth" type="string" value="0"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="true"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="true"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
@@ -107,7 +108,7 @@
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
@@ -117,10 +118,10 @@
<remap from="odom" to="/stereo_odometry"/>
<remap from="mapData" to="mapData"/>
</node>
</group>
<!-- Visualisation RVIZ -->
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_stereo_outdoor.rviz"/>
</launch>
launch/demo/demo_stereo_pr2.launch
+15 -14
View File
@@ -1,7 +1,8 @@
<?xml version="1.0"?>
<launch>
<!-- 6DOF stereo demo: download a bag example from http://projects.csail.mit.edu/stata/downloads.php.
You will need to remove the transform /combined_odometry from the /tf messages:
$ rosbag filter 2011-01-20-07-18-45.bag out.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom_combined"'
$ rosbag filter 2011-01-20-07-18-45.bag out.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom_combined"'
Run the example:
$ roslaunch rtabmap demo_stereo.launch
$ rosbag play -.-clock out.bag (replace -.- by double-dashes)
@@ -24,37 +25,37 @@
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
</node>
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="rgb/image" to="/wide_stereo/left/image_rect"/>
<remap from="rgb/camera_info" to="/wide_stereo/left/camera_info"/>
<remap from="depth/image" to="/wide_stereo/depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="scan" to="/base_scan"/>
<param name="frame_id" type="string" value="/base_footprint"/>
<param name="queue_size" type="int" value="30"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="SURF/HessianThreshold" type="string" value="600"/>
<param name="LccBow/MaxDepth" type="string" value="0"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.05"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<!-- Uncomment to force 3dof loop closure constraint using -->
<!-- the 2d scans (set ScanMatchingSize=1 to correct odometry with laser) -->
<!--
@@ -65,20 +66,20 @@
-->
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/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="30"/>
<remap from="rgb/image" to="/wide_stereo/left/image_rect"/>
<remap from="rgb/camera_info" to="/wide_stereo/left/camera_info"/>
<remap from="depth/image" to="/wide_stereo/depth"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
</group>
</launch>
launch/demo/demo_turtlebot3_navigation.launch
+6 -5
View File
@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<launch>
<!--
$ sudo apt install ros-melodic-turtlebot3* ros-melodic-dwa-local-planner
@@ -36,7 +37,7 @@
<remap from="depth/image" to="/camera/depth/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_footprint"/>
@@ -47,10 +48,10 @@
<param name="subscribe_scan" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="true"/>
<!-- use actionlib to send goals to move_base -->
<!-- use actionlib to send goals to move_base -->
<param name="use_action_for_goal" type="bool" value="true"/>
<remap from="move_base" to="/move_base"/>
<!-- inputs -->
<remap from="scan" to="/scan"/>
<remap from="odom" to="/odom"/>
@@ -58,7 +59,7 @@
<!-- output -->
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters -->
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
@@ -88,7 +89,7 @@
</include>
<!-- rviz -->
<group if="$(arg open_rviz)">
<group if="$(arg open_rviz)">
<node pkg="rviz" type="rviz" name="rviz" required="true"
args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
</group>
launch/demo/demo_turtlebot_mapping.launch
+29 -28
View File
@@ -1,31 +1,32 @@
<?xml version="1.0"?>
<launch>
<!--
<!--
Bringup Turtlebot:
$ roslaunch turtlebot_bringup minimal.launch
Mapping:
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
Visualization:
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
This launch file is a one to one replacement of the gmapping_demo.launch in the
This launch file is a one to one replacement of the gmapping_demo.launch in the
"SLAM Map Building with TurtleBot" tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM
For localization-only after a mapping session, add argument "localization:=true" to
demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in
the previous map, then the 2D map should re-appear again. You can then follow the same steps
demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in
the previous map, then the 2D map should re-appear again. You can then follow the same steps
from 3.3.2 of the "Autonomous Navigation of a Known Map with TurtleBot" tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
For turtlebot in simulation (Gazebo):
$ roslaunch turtlebot_gazebo turtlebot_world.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
-->
<arg name="database_path" default="rtabmap.db"/>
<arg name="rgbd_odometry" default="false"/>
<arg name="rtabmapviz" default="false"/>
@@ -40,20 +41,20 @@
<arg if="$(arg simulation)" name="depth_topic" default="/camera/depth/image_raw"/>
<arg unless="$(arg simulation)" name="depth_topic" default="/camera/depth_registered/image_raw"/>
<arg name="camera_info_topic" default="/camera/rgb/camera_info"/>
<arg name="wait_for_transform" default="0.2"/>
<!--
robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml"
<arg name="wait_for_transform" default="0.2"/>
<!--
robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml"
can be increase from 5 to 10 Hz to avoid some TF warnings.
-->
<!-- Navigation stuff (move_base) -->
<include unless="$(arg simulation)" file="$(find turtlebot_bringup)/launch/3dsensor.launch">
<arg if="$(arg sw_registered)" name="depth_registration" value="false"/>
<arg unless="$(arg sw_registered)" name="depth_registration" value="true"/>
</include>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
<!-- Mapping -->
<group ns="rtabmap">
@@ -65,10 +66,10 @@
<param name="subscribe_scan" type="bool" value="true"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<!-- When sending goals on /rtabmap/goal topic, use actionlib to communicate with move_base -->
<!-- When sending goals on /rtabmap/goal topic, use actionlib to communicate with move_base -->
<param name="use_action_for_goal" type="bool" value="true"/>
<remap from="move_base" to="/move_base"/>
<!-- inputs -->
<remap from="scan" to="/scan"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
@@ -79,10 +80,10 @@
<param unless="$(arg rgbd_odometry)" name="odom_frame_id" value="odom"/>
<param unless="$(arg rgbd_odometry)" name="odom_tf_linear_variance" value="0.001"/>
<param unless="$(arg rgbd_odometry)" name="odom_tf_angular_variance" value="0.001"/>
<!-- output -->
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
@@ -93,43 +94,43 @@
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="Rtabmap/TimeThr" type="string" value="0"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="GridGlobal/MinSize" type="string" value="20"/>
<!-- localization mode -->
<param if="$(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="$(arg localization)"/>
</node>
<!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/InlierDistance" type="string" value="0.05"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- visualization with rtabmapviz -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="scan" to="/scan"/>
</node>
</group>
</launch>
launch/demo/demo_turtlebot_rviz.launch
+1
View File
@@ -1,3 +1,4 @@
<?xml version="1.0"?>
<!--
Used for visualising the turtlebot while building a map or navigating with the ros navistack.
-->
launch/demo/demo_turtlebot_tango.launch
+29 -28
View File
@@ -1,50 +1,51 @@
<?xml version="1.0"?>
<launch>
<!--
<!--
Bringup Turtlebot:
$ roslaunch turtlebot_bringup minimal.launch
Mapping:
$ roslaunch rtabmap_ros demo_turtlebot_tango.launch
Visualization:
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
This launch file is a one to one replacement of the gmapping_demo.launch in the
This launch file is a one to one replacement of the gmapping_demo.launch in the
"SLAM Map Building with TurtleBot" tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM
For localization-only after a mapping session, add argument "localization:=true" to
demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in
the previous map, then the 2D map should re-appear again. You can then follow the same steps
demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in
the previous map, then the 2D map should re-appear again. You can then follow the same steps
from 3.3.2 of the "Autonomous Navigation of a Known Map with TurtleBot" tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
-->
<arg name="database_path" default="rtabmap.db"/>
<arg name="tango_odometry" default="true"/>
<arg name="localization" default="false"/>
<arg name="rtabmapviz" default="false"/>
<arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
<arg name="wait_for_transform" default="0.2"/>
<!--
robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml"
<arg name="wait_for_transform" default="0.2"/>
<!--
robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml"
can be increase from 5 to 10 Hz to avoid some TF warnings.
-->
<!-- Adjust these transforms on where Tango is fixed on the robot (should be landscape to get laser scans right). When Tango odometry is used, we need to offset /start_of_service to actual camera pose, then set /base_footprint relative to /device 1.5707963267948966 -->
<node if="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="device_base_link" args="-0.3 0 0 0 1.5707963267948966 0 device base_footprint 100" />
<node if="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="odom_start_of_service_link" args="0 0 0.3 0 0 0 odom start_of_service 100" />
<node unless="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="base_device_link" args="0 0 0.3 0 0 0 device base_link 100" />
<node if="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="device_base_link" args="-0.3 0 0 0 1.5707963267948966 0 device base_footprint 100" />
<node if="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="odom_start_of_service_link" args="0 0 0.3 0 0 0 odom start_of_service 100" />
<node unless="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="base_device_link" args="0 0 0.3 0 0 0 device base_link 100" />
<!-- Generate registered depth image -->
<node name="pointcloud_to_depthimage" pkg="rtabmap_ros" type="pointcloud_to_depthimage">
<remap from="cloud" to="/tango/point_cloud"/>
<remap from="image" to="/tango/registered_depth"/>
<remap from="camera_info" to="/tango/camera/color_1/camera_info"/>
<param name="fixed_frame_id" type="string" value="odom"/>
<param name="decimation" type="int" value="8"/>
<param name="fill_holes_size" type="int" value="5"/>
@@ -53,7 +54,7 @@
<!-- Navigation stuff (move_base) -->
<node name="scan_relay" type="relay" pkg="topic_tools" args="/tango/laser_scan /scan"/>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
<!-- relay to avoid subscribing multiple times to rgb image -->
<node name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=/tango/camera/color_1/image_raw raw out:=/tango/camera/color_1/image_raw/relay" />
@@ -68,16 +69,16 @@
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="true"/>
<!-- inputs -->
<remap from="scan" to="/scan"/>
<remap from="rgb/image" to="/tango/camera/color_1/image_raw/relay"/>
<remap from="depth/image" to="/tango/registered_depth"/>
<remap from="rgb/camera_info" to="/tango/camera/color_1/camera_info"/>
<!-- output -->
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
@@ -88,33 +89,33 @@
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Optimizer/Slam2D" type="string" value="false"/> <!-- cannot do 2D slam as Tango is 6DoF -->
<param name="Reg/Force3DoF" type="string" value="false"/> <!-- cannot do 2D slam as Tango is 6DoF -->
<param name="Mem/ImagePreDecimation" type="string" value="2"/>
<param name="Mem/ImagePostDecimation" type="string" value="2"/>
<param name="Mem/ImagePostDecimation" type="string" value="2"/>
<!-- 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="$(arg localization)"/>
</node>
<!-- visualization with rtabmapviz -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<remap from="rgb/image" to="/tango/camera/color_1/image_raw/relay"/>
<remap from="depth/image" to="/tango/registered_depth"/>
<remap from="rgb/camera_info" to="/tango/camera/color_1/camera_info"/>
<remap from="scan" to="/scan"/>
</node>
</group>
</launch>
launch/demo/demo_two_kinects.launch
+32 -31
View File
@@ -1,8 +1,9 @@
<?xml version="1.0"?>
<launch>
<!-- Multi-cameras demo with 2 Kinects -->
<!-- Cameras -->
<include file="$(find freenect_launch)/launch/freenect.launch">
<arg name="depth_registration" value="True" />
@@ -20,21 +21,21 @@
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera1_link 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_camera2_tf"
args="-0.1325 -0.1975 0.0 -1.570796327 0.0 0.0 /base_link /camera2_link 100" />
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- ODOMETRY MAIN ARGUMENTS:
<arg name="rtabmapviz" default="true" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=Frame-to-Map 1=Frame-to-Frame
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
-->
<arg name="strategy" default="0" />
@@ -46,7 +47,7 @@
<arg name="local_map" default="1000" />
<arg name="odom_info_data" default="true" />
<arg name="wait_for_transform" default="true" />
<!-- sync rgb/depth images per camera -->
<group ns="camera1">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera1_nodelet_manager">
@@ -62,31 +63,31 @@
<remap from="rgb/camera_info" to="rgb/camera_info"/>
</node>
</group>
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="rgbd_cameras" type="int" value="2"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="OdomF2M/BundleAdjustment" type="string" value="0"/> <!-- should be 0 for multi-cameras -->
<param name="Vis/EstimationType" type="string" value="0"/> <!-- should be 0 for multi-cameras -->
<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
<param name="Vis/CorGuessWinSize" type="string" value="0"/>
<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
<param name="Vis/CorGuessWinSize" type="string" value="0"/>
<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
</node>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
@@ -98,7 +99,7 @@
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="map_negative_poses_ignored" type="bool" value="false"/> <!-- refresh grid map even if we are not moving-->
<param name="map_negative_scan_empty_ray_tracing" type="bool" value="false"/> <!-- don't fill empty space between the generated scans-->
<remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/>
@@ -107,7 +108,7 @@
<param name="Vis/MinInliers" type="string" value="10"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="false"/>
@@ -116,13 +117,13 @@
<param name="frame_id" type="string" value="base_link"/>
<param name="rgbd_cameras" type="int" value="2"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/>
</node>
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>