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-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
This commit is contained in:
matlabbe
2014-02-17 22:00:11 +00:00
parent 14e02c79af
commit 760d4e8545
6 changed files with 82 additions and 20 deletions
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rtabmap/launch/demo/demo_multi-session_mapping.launch
+62
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@@ -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
+2 -2
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@@ -9,7 +9,7 @@ int32 refId
int32 loopClosureId int32 loopClosureId
int32 localLoopClosureId 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 rtabmap/MapData data
geometry_msgs/Transform mapCorrection geometry_msgs/Transform mapCorrection
@@ -18,7 +18,7 @@ geometry_msgs/Transform loopClosureTransform
geometry_msgs/Pose currentPose geometry_msgs/Pose currentPose
#### ####
# For statistics and visualization below... # For statistics and visualization ...
#### ####
# std::map<int, float> posterior; # std::map<int, float> posterior;
int32[] posteriorKeys int32[] posteriorKeys
rtabmap/src/CoreWrapper.cpp
+8 -8
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@@ -158,7 +158,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
} }
if(paused_) 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 // Init RTAB-Map
@@ -172,8 +172,8 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
pauseSrv_ = nh.advertiseService("pause", &CoreWrapper::pauseRtabmapCallback, this); pauseSrv_ = nh.advertiseService("pause", &CoreWrapper::pauseRtabmapCallback, this);
resumeSrv_ = nh.advertiseService("resume", &CoreWrapper::resumeRtabmapCallback, this); resumeSrv_ = nh.advertiseService("resume", &CoreWrapper::resumeRtabmapCallback, this);
triggerNewMapSrv_ = nh.advertiseService("trigger_new_map", &CoreWrapper::triggerNewMapCallback, this); triggerNewMapSrv_ = nh.advertiseService("trigger_new_map", &CoreWrapper::triggerNewMapCallback, this);
publishFullMapDataSrv_ = nh.advertiseService("publish_full_map_data", &CoreWrapper::publishFullMapDataCallback, this); publishGlobalMapDataSrv_ = nh.advertiseService("publish_global_map_data", &CoreWrapper::publishGlobalMapDataCallback, this);
publishCurrentMapDataSrv_ = nh.advertiseService("publish_current_map_data", &CoreWrapper::publishCurrentMapDataCallback, this); publishLocalMapDataSrv_ = nh.advertiseService("publish_local_map_data", &CoreWrapper::publishLocalMapDataCallback, this);
setupCallbacks(subscribeDepth, subscribeLaserScan, queueSize); setupCallbacks(subscribeDepth, subscribeLaserScan, queueSize);
@@ -604,21 +604,21 @@ bool CoreWrapper::triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Emp
return true; 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); publishMapData(true);
return 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); publishMapData(false);
return true; 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> > images;
std::map<int, std::vector<unsigned char> > depths; std::map<int, std::vector<unsigned char> > depths;
std::map<int, std::vector<unsigned char> > depths2d; std::map<int, std::vector<unsigned char> > depths2d;
@@ -640,7 +640,7 @@ void CoreWrapper::publishMapData(bool full)
poses, poses,
constraints, constraints,
true, true,
full); global);
int i=0; int i=0;
rtabmap/src/CoreWrapper.h
+5 -5
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@@ -74,10 +74,10 @@ private:
bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&); bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resumeRtabmapCallback(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 triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool publishFullMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&); bool publishGlobalMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool publishCurrentMapDataCallback(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); rtabmap::ParametersMap loadParameters(const std::string & configFile);
void saveParameters(const std::string & configFile); void saveParameters(const std::string & configFile);
@@ -138,8 +138,8 @@ private:
ros::ServiceServer pauseSrv_; ros::ServiceServer pauseSrv_;
ros::ServiceServer resumeSrv_; ros::ServiceServer resumeSrv_;
ros::ServiceServer triggerNewMapSrv_; ros::ServiceServer triggerNewMapSrv_;
ros::ServiceServer publishFullMapDataSrv_; ros::ServiceServer publishGlobalMapDataSrv_;
ros::ServiceServer publishCurrentMapDataSrv_; ros::ServiceServer publishLocalMapDataSrv_;
boost::thread* transformThread_; boost::thread* transformThread_;
rtabmap/src/DataRecorderNode.cpp
+1 -1
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@@ -39,7 +39,7 @@ class DataRecorderWrapper
{ {
public: public:
DataRecorderWrapper() : DataRecorderWrapper() :
fileName_(""), fileName_("output.db"),
frameId_("base_link"), frameId_("base_link"),
depthScanSync_(0), depthScanSync_(0),
depthSync_(0), depthSync_(0),
rtabmap/src/GuiWrapper.cpp
+4 -4
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@@ -419,9 +419,9 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
{ {
if(mapDataTopic_.getNumPublishers()) 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 this->post(new RtabmapEvent3DMap(1)); // service error
} }
} }
@@ -435,9 +435,9 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
{ {
if(mapDataTopic_.getNumPublishers()) 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 this->post(new RtabmapEvent3DMap(1)); // service error
} }
} }