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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/tests/test_k4a_cloud_only.launch
+20 -19
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@@ -1,15 +1,16 @@
<?xml version="1.0"?>
<launch>
<arg name="rtabmapviz" default="true"/>
<include file="$(find azure_kinect_ros_driver)/launch/driver.launch">
<arg name="point_cloud" value="false"/>
<arg name="rgb_point_cloud" value="false"/>
<arg name="fps" value="15"/>
</include>
<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="points_xyz" args="standalone rtabmap_ros/point_cloud_xyz" output="screen">
<remap from="depth/image" to="/depth_to_rgb/image_raw"/>
<remap from="depth/camera_info" to="/depth_to_rgb/camera_info"/>
@@ -21,38 +22,38 @@
<param name="normal_k" type="int" value="10"/>
<param name="approx_sync" type="bool" value="false"/>
</node>
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="voxel_cloud"/>
<param name="frame_id" type="string" value="camera_base"/>
<param name="frame_id" type="string" value="camera_base"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<!-- Odom parameters -->
<!-- Odom parameters -->
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.05"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="5000"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="5000"/>
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="frame_id" type="string" value="camera_base"/>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="frame_id" type="string" value="camera_base"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="voxel_cloud"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="RGBD/ProximityOdomGuess" type="string" value="true"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="RGBD/ProximityOdomGuess" type="string" value="true"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/MaxTranslation" type="string" value="0.5"/>
<param name="Icp/MaxTranslation" type="string" value="0.5"/>
</node>
<node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">