From 74f799824a7b9cfe83143d4f345c63491742338b Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 20 Jul 2015 16:13:56 -0400
Subject: [PATCH] Added stereo_mapping.launch, updated bumblebee.launch(10 Hz
 throttle), set wait_for_transform=true by default for rtabmap, rtabmapviz and
 odometry nodes

---
 launch/rgbd_mapping.launch    |  11 +++-
 launch/stereo_mapping.launch  | 119 ++++++++++++++++++++++++++++++++++
 launch/tests/bumblebee.launch |  20 +++++-
 src/CoreWrapper.cpp           |   2 +-
 src/GuiWrapper.cpp            |   2 +-
 src/OdometryROS.cpp           |   2 +-
 6 files changed, 147 insertions(+), 9 deletions(-)
 create mode 100644 launch/stereo_mapping.launch

diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index f9a2b25f..7ea0fb2a 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -21,6 +21,7 @@
   <arg name="scan_topic"              default="/scan"/>
    
   <arg name="namespace"               default="rtabmap"/>
+  <arg name="wait_for_transform"      default="true"/>
   
   <!-- Odometry parameters: -->
   <arg name="strategy"            default="0" />       <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
@@ -42,6 +43,8 @@
       <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
 	  
 	  <param name="frame_id"                 type="string" value="$(arg frame_id)"/>
+	  <param name="wait_for_transform"       type="bool"   value="$(arg wait_for_transform)"/>
+	  
 	  <param name="Odom/Strategy"            type="string" value="$(arg strategy)"/> 
 	  <param name="Odom/FeatureType"         type="string" value="$(arg feature)"/>  
 	  <param name="OdomBow/NNType"           type="string" value="$(arg nn)"/>
@@ -55,9 +58,10 @@
     <!-- Visual SLAM (robot side) -->
     <!-- args: "delete_db_on_start" and "udebug" -->
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
-      <param name="subscribe_depth" type="bool"   value="true"/>
-      <param name="subscribe_scan"  type="bool"   value="$(arg subscribe_scan)"/>
-	  <param name="frame_id"        type="string" value="$(arg frame_id)"/>
+      <param name="subscribe_depth"    type="bool"   value="true"/>
+      <param name="subscribe_scan"     type="bool"   value="$(arg subscribe_scan)"/>
+	  <param name="frame_id"           type="string" value="$(arg frame_id)"/>
+	  <param name="wait_for_transform" type="bool"   value="$(arg wait_for_transform)"/>
 	
       <remap from="rgb/image"       to="$(arg rgb_topic)"/>
       <remap from="depth/image"     to="$(arg depth_registered_topic)"/>
@@ -82,6 +86,7 @@
       <param name="subscribe_scan"      type="bool"   value="$(arg subscribe_scan)"/>
       <param name="subscribe_odom_info" type="bool"   value="$(arg odom_info_data)"/>
       <param name="frame_id"            type="string" value="$(arg frame_id)"/>
+      <param name="wait_for_transform"  type="bool"   value="$(arg wait_for_transform)"/>
     
       <remap from="rgb/image"       to="$(arg rgb_topic)"/>
       <remap from="depth/image"     to="$(arg depth_registered_topic)"/>
diff --git a/launch/stereo_mapping.launch b/launch/stereo_mapping.launch
new file mode 100644
index 00000000..5161e975
--- /dev/null
+++ b/launch/stereo_mapping.launch
@@ -0,0 +1,119 @@
+
+<launch>
+   <!-- Your camera should be calibrated and publishing rectified left and right 
+        images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
+        Example:
+           $ roslaunch rtabmap_ros bumblebee.launch -->
+ 
+   <!-- Choose visualization -->
+  <arg name="rviz"                    default="false" />
+  <arg name="rtabmapviz"              default="true" /> 
+  
+  <arg name="frame_id"                default="base_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
+  <arg name="time_threshold"          default="0"/>             <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
+  <arg name="optimize_from_last_node" default="false"/>         <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
+   
+  <arg name="left_image_topic"        default="/stereo_camera/left/image_rect_color" />
+  <arg name="right_image_topic"       default="/stereo_camera/right/image_rect" />      <!-- using grayscale image for efficiency -->
+  <arg name="left_camera_info_topic"  default="/stereo_camera/left/camera_info" />
+  <arg name="right_camera_info_topic" default="/stereo_camera/right/camera_info" />
+   
+  <arg name="subscribe_scan"          default="false"/>         <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
+  <arg name="scan_topic"              default="/scan"/>
+   
+  <arg name="namespace"               default="rtabmap"/>
+  <arg name="wait_for_transform"      default="true"/>
+  
+  <!-- Odometry parameters: -->
+  <arg name="strategy"            default="0" />       <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
+  <arg name="feature"             default="6" />       <!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -->
+  <arg name="Odom/EstimationType" default="1" />       <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
+  <arg name="nn"                  default="3" />       <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
+  <arg name="max_depth"           default="10.0" />    <!-- Maximum features depth (m) -->
+  <arg name="min_inliers"         default="20" />      <!-- Minimum visual correspondences to accept a transformation (m) -->
+  <arg name="inlier_distance"     default="0.1" />     <!-- RANSAC maximum inliers distance (m) -->
+  <arg name="local_map"           default="1000" />    <!-- Local map size: number of unique features to keep track -->
+  <arg name="odom_info_data"      default="true" />    <!-- Fill odometry info messages with inliers/outliers data. -->
+        
+  <!-- Nodes -->
+  <group ns="$(arg namespace)">
+  
+    <!-- Odometry -->
+    <node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
+      <remap from="left/image_rect"        to="$(arg left_image_topic)"/>
+      <remap from="right/image_rect"       to="$(arg right_image_topic)"/>
+      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
+      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
+	  
+	  <param name="frame_id"                 type="string" value="$(arg frame_id)"/>
+	  <param name="wait_for_transform"       type="bool"   value="$(arg wait_for_transform)"/>
+	  
+	  <param name="Odom/Strategy"            type="string" value="$(arg strategy)"/> 
+	  <param name="Odom/FeatureType"         type="string" value="$(arg feature)"/>  
+	  <param name="OdomBow/NNType"           type="string" value="$(arg nn)"/>
+	  <param name="Odom/MaxDepth"            type="string" value="$(arg max_depth)"/>  
+	  <param name="Odom/MinInliers"          type="string" value="$(arg min_inliers)"/> 
+	  <param name="Odom/InlierDistance"      type="string" value="$(arg inlier_distance)"/>       
+      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/> 
+      <param name="Odom/FillInfoData"        type="string" value="$(arg odom_info_data)"/>   
+    </node>
+  
+    <!-- Visual SLAM (robot side) -->
+    <!-- args: "delete_db_on_start" and "udebug" -->
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
+      <param name="subscribe_depth"     type="bool"   value="false"/>
+      <param name="subscribe_stereo"    type="bool"   value="true"/>
+      <param name="subscribe_scan"      type="bool"   value="$(arg subscribe_scan)"/>
+	  <param name="frame_id"            type="string" value="$(arg frame_id)"/>
+	  <param name="wait_for_transform"  type="bool"   value="$(arg wait_for_transform)"/>
+	
+      <remap from="left/image_rect"        to="$(arg left_image_topic)"/>
+      <remap from="right/image_rect"       to="$(arg right_image_topic)"/>
+      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
+      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
+      <remap from="scan"                   to="$(arg scan_topic)"/>
+      
+      <param name="Rtabmap/TimeThr"           type="string" value="$(arg time_threshold)"/>
+      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
+      <param name="LccBow/MinInliers"         type="string" value="10"/>
+      <param name="LccBow/InlierDistance"     type="string" value="$(arg inlier_distance)"/>
+      
+      <!-- when 2D scan is set -->
+      <param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D"          type="string" value="true"/>
+      <param if="$(arg subscribe_scan)" name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
+      <param if="$(arg subscribe_scan)" name="LccIcp/Type"                  type="string" value="2"/> 
+	  <param if="$(arg subscribe_scan)" name="LccIcp2/CorrespondenceRatio"  type="string" value="0.25"/>
+    </node>
+  
+    <!-- Visualisation RTAB-Map -->
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
+      <param name="subscribe_depth"      type="bool"   value="false"/>
+      <param name="subscribe_stereo"     type="bool"   value="true"/>
+      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_odom_info"  type="bool"   value="$(arg odom_info_data)"/>
+      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
+      <param name="wait_for_transform"   type="bool"   value="$(arg wait_for_transform)"/>
+    
+      <remap from="left/image_rect"        to="$(arg left_image_topic)"/>
+      <remap from="right/image_rect"       to="$(arg right_image_topic)"/>
+      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
+      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
+      <remap from="scan"                   to="$(arg scan_topic)"/>
+    </node>
+  
+  </group>
+  
+  <!-- Visualization RVIZ -->
+  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
+  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
+    <remap from="left/image"        to="$(arg left_image_topic)"/>
+    <remap from="right/image"       to="$(arg right_image_topic)"/>
+    <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
+    <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
+    <remap from="cloud"             to="voxel_cloud" />
+
+    <param name="decimation" type="double" value="2"/>
+    <param name="voxel_size" type="double" value="0.02"/>
+  </node>
+
+</launch>
diff --git a/launch/tests/bumblebee.launch b/launch/tests/bumblebee.launch
index c979ba79..fe3eb9f9 100644
--- a/launch/tests/bumblebee.launch
+++ b/launch/tests/bumblebee.launch
@@ -15,10 +15,24 @@
   	<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
         args="$(arg optical_rotate) base_link stereo_camera 100" />  
   	
-  	<!-- Run the ROS package stereo_image_proc -->
+  	<!-- Run the ROS package stereo_image_proc (throttle to 10 Hz to avoid rectifying all images) -->
 	<group ns="/stereo_camera" >
-		<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
-	    <node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap_ros/disparity_to_depth"/>
+	    <node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
+			<remap from="left/image"        to="left/image_raw"/>
+		    <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="10"/>
+		</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"/>
+			<remap from="right/image_raw"   to="right/image_raw_throttle"/>
+			<remap from="right/camera_info" to="right/camera_info_throttle"/>
+		</node>
 	</group>
 	
 	
diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index 09a7dc57..1458eb54 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -81,7 +81,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 		odomFrameId_(""),
 		configPath_(""),
 		databasePath_(UDirectory::homeDir()+"/.ros/"+rtabmap::Parameters::getDefaultDatabaseName()),
-		waitForTransform_(false),
+		waitForTransform_(true),
 		useActionForGoal_(false),
 		genScan_(false),
 		genScanMaxDepth_(4.0),
diff --git a/src/GuiWrapper.cpp b/src/GuiWrapper.cpp
index ff84a015..f053e911 100644
--- a/src/GuiWrapper.cpp
+++ b/src/GuiWrapper.cpp
@@ -71,7 +71,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 		app_(0),
 		mainWindow_(0),
 		frameId_("base_link"),
-		waitForTransform_(false),
+		waitForTransform_(true),
 		cameraNodeName_(""),
 		lastOdomInfoUpdateTime_(0),
 		depthScanSync_(0),
diff --git a/src/OdometryROS.cpp b/src/OdometryROS.cpp
index 4cb0d2f0..1df2ec99 100644
--- a/src/OdometryROS.cpp
+++ b/src/OdometryROS.cpp
@@ -56,7 +56,7 @@ OdometryROS::OdometryROS(int argc, char * argv[]) :
 	odomFrameId_("odom"),
 	groundTruthFrameId_(""),
 	publishTf_(true),
-	waitForTransform_(false),
+	waitForTransform_(true),
 	paused_(false)
 {
 	this->processArguments(argc, argv);