ros-pkg:

-changed rtabmap service names publish_full_map_data -> publish_global_map_data and publish_current_map_data -> publish_local_map_data
-added demo_multi-session_mapping.launch 


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1118 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/launch/demo/demo_multi-session_mapping.launch

@@ -0,0 +1,62 @@
+
+<launch>
+
+   <!-- MULTI-SESSION MAPPING VERSION -->
+
+  <param name="use_sim_time" type="bool" value="True"/>
+
+  <!-- SLAM (robot side) -->
+  <!-- args: "delete_db_on_start" and "udebug" -->
+  <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
+	<param name="frame_id" type="string" value="base_footprint"/>
+	
+	<param name="subscribe_depth" type="bool" value="true"/>
+	<param name="subscribe_laserScan" 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/ScanMatchingSize" type="string" value="0"/> 
+	<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/> 
+	<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> 
+	<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
+	<param name="LccIcp/Type" type="string" value="1"/>
+	<param name="LccIcp2/Iterations" type="string" value="100"/>
+	<param name="LccIcp2/VoxelSize" type="string" value="0"/>
+	<param name="LccBow/MinInliers" type="string" value="5"/>
+	<param name="LccBow/MaxDepth" type="string" value="4.0"/>
+	<param name="LccBow/InlierDistance" type="string" value="0.1"/>
+	<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
+	<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
+	<param name="Rtabmap/TimeThr" type="string" value="700"/>
+	<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
+  </node>
+  
+  <!-- Visualisation (client side) -->
+  <node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/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="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>
+
+</launch>

rtabmap/msg/InfoEx.msg

@@ -9,7 +9,7 @@ int32 refId
 int32 loopClosureId
 int32 localLoopClosureId
 
-# The map data (rgb, depth, depthConstant, depth2D, localTransform, poses, map ids)
+# The map data (rgb, depth, depthConstant, depth2D, localTransform, poses, constraints, map ids)
 rtabmap/MapData data
 
 geometry_msgs/Transform mapCorrection
@@ -18,7 +18,7 @@ geometry_msgs/Transform loopClosureTransform
 geometry_msgs/Pose currentPose
 
 ####
-# For statistics and visualization below...
+# For statistics and visualization ...
 ####
 # std::map<int, float> posterior;
 int32[] posteriorKeys

rtabmap/src/CoreWrapper.cpp

@@ -158,7 +158,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 	}
 	if(paused_)
 	{
-		UWARN("Node paused... dont' forget to call service \"pause_rtabmap\" to start rtabmap.");
+		UWARN("Node paused... dont' forget to call service \"resume\" to start rtabmap.");
 	}
 
 	// Init RTAB-Map
@@ -172,8 +172,8 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 	pauseSrv_ = nh.advertiseService("pause", &CoreWrapper::pauseRtabmapCallback, this);
 	resumeSrv_ = nh.advertiseService("resume", &CoreWrapper::resumeRtabmapCallback, this);
 	triggerNewMapSrv_ = nh.advertiseService("trigger_new_map", &CoreWrapper::triggerNewMapCallback, this);
-	publishFullMapDataSrv_ = nh.advertiseService("publish_full_map_data", &CoreWrapper::publishFullMapDataCallback, this);
-	publishCurrentMapDataSrv_ = nh.advertiseService("publish_current_map_data", &CoreWrapper::publishCurrentMapDataCallback, this);
+	publishGlobalMapDataSrv_ = nh.advertiseService("publish_global_map_data", &CoreWrapper::publishGlobalMapDataCallback, this);
+	publishLocalMapDataSrv_ = nh.advertiseService("publish_local_map_data", &CoreWrapper::publishLocalMapDataCallback, this);
 
 
 	setupCallbacks(subscribeDepth, subscribeLaserScan, queueSize);
@@ -604,21 +604,21 @@ bool CoreWrapper::triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Emp
 	return true;
 }
 
-bool CoreWrapper::publishFullMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
+bool CoreWrapper::publishGlobalMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
 {
 	publishMapData(true);
 	return true;
 }
 
-bool CoreWrapper::publishCurrentMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
+bool CoreWrapper::publishLocalMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
 {
 	publishMapData(false);
 	return true;
 }
 
-void CoreWrapper::publishMapData(bool full)
+void CoreWrapper::publishMapData(bool global)
 {
-	ROS_INFO("rtabmap: Publishing map data (full=%s)...", full?"true":"false");
+	ROS_INFO("rtabmap: Publishing map data (global=%s)...", global?"true":"false");
 	std::map<int, std::vector<unsigned char> > images;
 	std::map<int, std::vector<unsigned char> > depths;
 	std::map<int, std::vector<unsigned char> > depths2d;
@@ -640,7 +640,7 @@ void CoreWrapper::publishMapData(bool full)
 				poses,
 				constraints,
 				true,
-				full);
+				global);
 
 		int i=0;
 

rtabmap/src/CoreWrapper.h

@@ -74,10 +74,10 @@ private:
 	bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
 	bool resumeRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
 	bool triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
-	bool publishFullMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
-	bool publishCurrentMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool publishGlobalMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
+	bool publishLocalMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
 
-	void publishMapData(bool full);
+	void publishMapData(bool global);
 
 	rtabmap::ParametersMap loadParameters(const std::string & configFile);
 	void saveParameters(const std::string & configFile);
@@ -138,8 +138,8 @@ private:
 	ros::ServiceServer pauseSrv_;
 	ros::ServiceServer resumeSrv_;
 	ros::ServiceServer triggerNewMapSrv_;
-	ros::ServiceServer publishFullMapDataSrv_;
-	ros::ServiceServer publishCurrentMapDataSrv_;
+	ros::ServiceServer publishGlobalMapDataSrv_;
+	ros::ServiceServer publishLocalMapDataSrv_;
 
 	boost::thread* transformThread_;
 

rtabmap/src/DataRecorderNode.cpp

@@ -39,7 +39,7 @@ class DataRecorderWrapper
 {
 public:
 	DataRecorderWrapper() :
-		fileName_(""),
+		fileName_("output.db"),
 		frameId_("base_link"),
 		depthScanSync_(0),
 		depthSync_(0),

rtabmap/src/GuiWrapper.cpp

@@ -419,9 +419,9 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
 		{
 			if(mapDataTopic_.getNumPublishers())
 			{
-				if(!ros::service::call("publish_current_map_data", srv))
+				if(!ros::service::call("publish_local_map_data", srv))
 				{
-					ROS_WARN("Can't call \"publish_current_map_data\" service");
+					ROS_WARN("Can't call \"publish_local_map_data\" service");
 					this->post(new RtabmapEvent3DMap(1)); // service error
 				}
 			}
@@ -435,9 +435,9 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
 		{
 			if(mapDataTopic_.getNumPublishers())
 			{
-				if(!ros::service::call("publish_full_map_data", srv))
+				if(!ros::service::call("publish_global_map_data", srv))
 				{
-					ROS_WARN("Can't call \"publish_full_map_data\" service");
+					ROS_WARN("Can't call \"publish_global_map_data\" service");
 					this->post(new RtabmapEvent3DMap(1)); // service error
 				}
 			}