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Added stereo_mapping.launch, updated bumblebee.launch(10 Hz throttle), set wait_for_transform=true by default for rtabmap, rtabmapviz and odometry nodes

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matlabbe
2015-07-20 16:13:56 -04:00
parent 9822159f4b
commit 74f799824a
6 changed files with 147 additions and 9 deletions
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launch/rgbd_mapping.launch
+8 -3
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@@ -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)"/>