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Updating demos/examples using lidar with new Icp/ReciprocalCorrespondences param

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matlabbe
2023-04-09 17:37:45 -07:00
parent fc9ca0e40d
commit 724673fae2
9 changed files with 17 additions and 9 deletions
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rtabmap_demos/launch/config/husky_velodyne_extra.urdf.xacro → rtabmap_demos/launch/config/husky_velodyne_gpu_extra.urdf.xacro
+1 -1
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@@ -2,7 +2,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<xacro:VLP-16 parent="base_laser_mount" name="velodyne" topic="velodyne_points" gpu="true" organize_cloud="true">
<xacro:VLP-16 parent="top_plate_link" name="velodyne" topic="velodyne_points" gpu="true" organize_cloud="true">
<origin xyz="0.025 0 0.175" rpy="0 0 0" />
</xacro:VLP-16>
rtabmap_demos/launch/demo_hector_mapping.launch
+2 -2
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@@ -23,7 +23,7 @@
<!-- Example with camera or not -->
<arg name="camera" default="true" />
<!-- Limit lidar range if > 0 (has effect only when hector:=false) -->
<!-- Limit lidar range if > 0 (has effect only when hector:=false, better with odom_guess:=true) -->
<arg name="max_range" default="0" />
<!-- Point to Plane ICP? (has effect only when hector:=false) -->
@@ -91,7 +91,7 @@
<param name="Odom/Strategy" type="string" value="0"/>
<param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Odom/ResetCountdown" type="string" value="0"/>
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
<param name="Odom/ScanKeyFrameThr" type="string" value="0.75"/>
</node>
<group ns="rtabmap">
rtabmap_demos/launch/demo_husky.launch
+8 -3
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@@ -3,8 +3,11 @@
<launch>
<!-- Bringup the Husky with SICK (2D LiDAR), realsense camera (RGB-D camera) and velodyne (3D LiDAR):
$ export HUSKY_URDF_EXTRAS=$(rospack find rtabmap_demos)/launch/config/husky_velodyne_extra.urdf.xacro
$ roslaunch husky_gazebo husky_playpen.launch realsense_enabled:=true
$ export HUSKY_URDF_EXTRAS=$(rospack find rtabmap_demos)/launch/config/husky_velodyne_gpu_extra.urdf.xacro
$ export HUSKY_UST10_ENABLED=1
$ export HUSKY_REALSENSE_ENABLED=1
$ export HUSKY_REALSENSE_XYZ="0.2206 0 0.1"
$ roslaunch husky_gazebo husky_playpen.launch
$ roslaunch husky_viz view_robot.launch
For ICP odometry examples, rtabmap should be built with libpointmatcher.
@@ -73,6 +76,7 @@
--RGBD/NeighborLinkRefining true
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Odom/ScanKeyFrameThr 0.5
--Icp/MaxTranslation 1"/>
<arg if="$(arg lidar3d)" name="lidar_args" default="
@@ -87,6 +91,7 @@
--Icp/Epsilon 0.001
--OdomF2M/ScanSubtractRadius $(arg cell_size)
--OdomF2M/ScanMaxSize 15000
--Odom/ScanKeyFrameThr 0.5
--Grid/ClusterRadius 1
--Grid/RangeMax 20
--Grid/RayTracing $(arg lidar3d_ray_tracing)
@@ -111,7 +116,7 @@
<!-- 2D LiDAR -->
<arg name="subscribe_scan" value="$(arg lidar2d)" />
<arg if="$(arg lidar2d)" name="scan_topic" value="/scan" />
<arg if="$(arg lidar2d)" name="scan_topic" value="/front/scan" />
<arg unless="$(arg lidar2d)" name="scan_topic" value="/scan_not_used" />
<!-- 3D LiDAR -->
rtabmap_examples/launch/test_k4a_cloud_only.launch
+1
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@@ -35,6 +35,7 @@
<!-- Odom parameters -->
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.05"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="5000"/>
<param name="Odom/ScanKeyFrameThr" type="string" value="0.5"/>
</node>
<node pkg="rtabmap_slam" type="rtabmap" name="rtabmap" output="screen" args="-d">
rtabmap_examples/launch/test_ouster.launch
+1
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@@ -73,6 +73,7 @@
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<param name="Icp/ReciprocalCorrespondences" type="string" value="false"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.8"/>
rtabmap_examples/launch/test_ouster_gen2.launch
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@@ -114,6 +114,7 @@
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<param name="Icp/ReciprocalCorrespondences" type="string" value="false"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.8"/>
rtabmap_examples/launch/test_velodyne.launch
+1 -1
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@@ -37,7 +37,7 @@
<!-- For F2M Odometry -->
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car, kitti) -->
<arg name="local_map_size" default="15000"/>
<arg name="key_frame_thr" default="0.6"/>
<arg name="key_frame_thr" default="0.4"/>
<!-- For FLOAM Odometry -->
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
rtabmap_examples/launch/test_velodyne_d435i_deskewing.launch
+1 -1
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@@ -36,7 +36,7 @@
<!-- For F2M Odometry -->
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car) -->
<arg name="local_map_size" default="15000"/>
<arg name="key_frame_thr" default="0.6"/>
<arg name="key_frame_thr" default="0.4"/>
<!-- For FLOAM Odometry -->
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
rtabmap_examples/launch/test_velodyne_t265_deskewing.launch
+1 -1
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@@ -36,7 +36,7 @@
<!-- For F2M Odometry -->
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car) -->
<arg name="local_map_size" default="15000"/>
<arg name="key_frame_thr" default="0.6"/>
<arg name="key_frame_thr" default="0.4"/>
<!-- For FLOAM Odometry -->
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->