ported rtabmap_ros_pkg_split to ros2

CMakeLists.txt

@@ -1,813 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(rtabmap_ros)
-
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_python REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(rclpy REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-find_package(cv_bridge REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(nav_msgs REQUIRED)
-find_package(nav2_msgs REQUIRED)
-find_package(stereo_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
-find_package(image_transport REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_eigen REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-#find_package(eigen_conversions REQUIRED)
-find_package(laser_geometry REQUIRED)
-find_package(pcl_conversions REQUIRED)
-#find_package(pcl_ros REQUIRED)
-#find_package(dynamic_reconfigure REQUIRED)
-find_package(message_filters REQUIRED)
-find_package(class_loader REQUIRED)
-#find_package(rosgraph_msgs REQUIRED)
-find_package(image_geometry REQUIRED)
-#find_package(pluginlib REQUIRED)
-
-# Optional components
-#find_package(costmap_2d)
-find_package(octomap_msgs)
-#find_package(apriltag_msgs)
-#find_package(find_object_2d)
-#find_package(fiducial_msgs)
-
-## System dependencies are found with CMake's conventions
-find_package(RTABMap 0.21.0 REQUIRED)
-add_definitions(${RTABMap_DEFINITIONS}) # To include -march=native if set
-
-# optional
-find_package(rviz_common)
-find_package(rviz_rendering)
-find_package(rviz_default_plugins)
-
-IF(WIN32)
-add_compile_options(-bigobj)
-ENDIF(WIN32)
-
-MESSAGE(STATUS "ROS_DISTRO=$ENV{ROS_DISTRO}")
-
-# kinetic issue, rtabmap now requires at least c++11
-if("$ENV{ROS_DISTRO}" STREQUAL "kinetic")
-include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-IF(COMPILER_SUPPORTS_CXX14)
-  set(CMAKE_CXX_STANDARD 14)
-ELSEIF(COMPILER_SUPPORTS_CXX11)
-  set(CMAKE_CXX_STANDARD 11)
-ENDIF()
-endif()
-
-IF(${nav2_msgs_VERSION_MAJOR} EQUAL 0)
-   ADD_DEFINITIONS("-DNAV_MSGS_FOXY")
-ENDIF()
-
-option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support"  OFF)
-option(RTABMAP_SYNC_USER_DATA "Build with input user data support"  OFF)
-MESSAGE(STATUS "RTABMAP_SYNC_MULTI_RGBD = ${RTABMAP_SYNC_MULTI_RGBD}")
-MESSAGE(STATUS "RTABMAP_SYNC_USER_DATA  = ${RTABMAP_SYNC_USER_DATA}")
-IF(RTABMAP_SYNC_MULTI_RGBD)
-add_definitions("-DRTABMAP_SYNC_MULTI_RGBD")
-ENDIF(RTABMAP_SYNC_MULTI_RGBD)
-IF(RTABMAP_SYNC_USER_DATA)
-add_definitions("-DRTABMAP_SYNC_USER_DATA")
-ENDIF(RTABMAP_SYNC_USER_DATA)
-
-#######################################
-## Declare ROS messages and services ##
-#######################################
-
-# declare the message files to generate code for
- set(msg_files
-   "msg/Info.msg"
-   "msg/KeyPoint.msg"
-   "msg/GlobalDescriptor.msg"
-   "msg/ScanDescriptor.msg"
-   "msg/MapData.msg"
-   "msg/MapGraph.msg"
-   "msg/NodeData.msg"
-   "msg/Link.msg"
-   "msg/OdomInfo.msg"
-   "msg/Point2f.msg"
-   "msg/Point3f.msg"
-   "msg/Goal.msg"
-   "msg/RGBDImage.msg"
-   "msg/RGBDImages.msg"
-   "msg/UserData.msg"
-   "msg/GPS.msg"
-   "msg/Path.msg"
-   "msg/EnvSensor.msg"
-   "msg/CameraModel.msg"
-   "msg/CameraModels.msg"
- )
-
-# declare the service files to generate code for
- set(srv_files
-   "srv/GetMap.srv"
-   "srv/GetMap2.srv"
-   "srv/ListLabels.srv"
-   "srv/PublishMap.srv"
-   "srv/ResetPose.srv"
-   "srv/SetGoal.srv"
-   "srv/SetLabel.srv"
-   "srv/RemoveLabel.srv"
-   "srv/GetPlan.srv"
-   "srv/AddLink.srv"
-   "srv/GetNodeData.srv"
-   "srv/GetNodesInRadius.srv"
-   "srv/LoadDatabase.srv"
-   "srv/DetectMoreLoopClosures.srv"
-   "srv/GlobalBundleAdjustment.srv"
-   "srv/CleanupLocalGrids.srv"
- )
-
-## Generate messages and services
- rosidl_generate_interfaces(${PROJECT_NAME}
-   ${msg_files}
-   ${srv_files}
-   DEPENDENCIES geometry_msgs std_msgs sensor_msgs std_srvs visualization_msgs image_geometry
- )
-
-#add dynamic reconfigure api
-#generate_dynamic_reconfigure_options(cfg/Camera.cfg)
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-
-#SET(optional_dependencies "")
-#IF(costmap_2d_FOUND)
-#   SET(optional_dependencies ${optional_dependencies} costmap_2d)
-#ENDIF(costmap_2d_FOUND)
-#IF(octomap_msgs_FOUND)
-#   SET(optional_dependencies ${optional_dependencies} octomap_msgs)
-#ENDIF(octomap_msgs_FOUND)
-#IF(rviz_default_plugins_FOUND)
-#   SET(optional_dependencies ${optional_dependencies} rviz)
-#ENDIF(rviz_default_plugins_FOUND)
-#IF(find_object_2d_FOUND)
-#   SET(optional_dependencies ${optional_dependencies} find_object_2d)
-#ENDIF(find_object_2d_FOUND)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-#include_directories(include)
-include_directories(
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
-)
-
-# libraries
-SET(Libraries
-   pcl_conversions
-   cv_bridge
-   rclcpp
-   rclcpp_components
-   sensor_msgs
-   std_msgs
-   nav_msgs
-   nav2_msgs
-   geometry_msgs
-   image_transport
-   tf2
-   tf2_eigen
-   tf2_ros
-   tf2_geometry_msgs
-   laser_geometry
-   message_filters
-   class_loader
-   visualization_msgs
-   image_geometry
-   stereo_msgs
-   RTABMap
-)
-
-SET(rtabmap_sync_lib_src
-   src/CommonDataSubscriber.cpp
-   src/impl/CommonDataSubscriberDepth.cpp
-   src/impl/CommonDataSubscriberStereo.cpp
-   src/impl/CommonDataSubscriberRGB.cpp
-   src/impl/CommonDataSubscriberRGBD.cpp
-   src/impl/CommonDataSubscriberRGBDX.cpp
-   src/impl/CommonDataSubscriberScan.cpp
-   src/impl/CommonDataSubscriberOdom.cpp
-   src/CoreWrapper.cpp # we put CoreWrapper here instead of plugins lib to avoid long compilation time on plugins lib
-)
-IF(RTABMAP_SYNC_MULTI_RGBD)
-  SET(rtabmap_sync_lib_src
-    ${rtabmap_sync_lib_src}
-    src/impl/CommonDataSubscriberRGBD2.cpp
-    src/impl/CommonDataSubscriberRGBD3.cpp
-    src/impl/CommonDataSubscriberRGBD4.cpp
-    src/impl/CommonDataSubscriberRGBD5.cpp
-    src/impl/CommonDataSubscriberRGBD6.cpp
-  )
-ENDIF(RTABMAP_SYNC_MULTI_RGBD)
-  
-SET(rtabmap_ros_lib_src
-   src/MsgConversion.cpp
-   src/MapsManager.cpp
-   src/OdometryROS.cpp
-#   src/PluginInterface.cpp
-)
-  
-SET(rtabmap_plugins_lib_src
-    src/nodelets/rgbd_odometry.cpp
-    src/nodelets/stereo_odometry.cpp
-#   src/nodelets/rgbdicp_odometry.cpp
-    src/nodelets/icp_odometry.cpp
-#   src/nodelets/data_throttle.cpp
-#   src/nodelets/stereo_throttle.cpp
-#   src/nodelets/data_odom_sync.cpp
-    src/nodelets/point_cloud_xyzrgb.cpp 
-    src/nodelets/point_cloud_xyz.cpp
-#   src/nodelets/disparity_to_depth.cpp 
-    src/nodelets/pointcloud_to_depthimage.cpp 
-    src/nodelets/obstacles_detection.cpp
-#   src/nodelets/obstacles_detection_old.cpp
-    src/nodelets/point_cloud_aggregator.cpp
-    src/nodelets/point_cloud_assembler.cpp
-#   src/nodelets/undistort_depth.cpp
-#   src/nodelets/imu_to_tf.cpp
-    src/nodelets/rgbdx_sync.cpp
-    src/nodelets/rgbd_sync.cpp 
-    src/nodelets/stereo_sync.cpp 
-    src/nodelets/rgb_sync.cpp 
-    src/nodelets/rgbd_relay.cpp
-    src/nodelets/rgbd_split.cpp
-    src/nodelets/lidar_deskewing.cpp
-)
-
-# If octomap is found, add definition
-IF(octomap_msgs_FOUND)
-MESSAGE(STATUS "WITH octomap_msgs")
-include_directories(
-  ${octomap_msgs_INCLUDE_DIRS}
-)
-SET(Libraries
-  octomap_msgs
-  ${Libraries}
-)
-ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
-ENDIF(octomap_msgs_FOUND)
-
-# If apriltag_msgs is found, add definition
-#IF(apriltag_msgs_FOUND)
-#MESSAGE(STATUS "WITH apriltag_msgs")
-#include_directories(
-#  ${apriltag_msgs_INCLUDE_DIRS}
-#)
-#SET(Libraries
-#  apriltag_msgs
-#  ${Libraries}
-#)
-#ADD_DEFINITIONS("-DWITH_APRILTAG_MSGS")
-#ENDIF(apriltag_msgs_FOUND)
-
-# If fiducial_msgs is found, add definition
-IF(fiducial_msgs_FOUND)
-MESSAGE(STATUS "WITH fiducial_msgs")
-include_directories(
-  ${fiducial_msgs_INCLUDE_DIRS}
-)
-SET(Libraries
-  ${fiducial_msgs_LIBRARIES}
-  ${Libraries}
-)
-ADD_DEFINITIONS("-DWITH_FIDUCIAL_MSGS")
-ENDIF(fiducial_msgs_FOUND)
-
-############################
-## Declare a cpp library
-############################
-add_library(rtabmap_common SHARED ${rtabmap_ros_lib_src})
-add_library(rtabmap_sync SHARED ${rtabmap_sync_lib_src})
-add_library(rtabmap_plugins SHARED ${rtabmap_plugins_lib_src})
-
-ament_target_dependencies(rtabmap_common ${Libraries})
-ament_target_dependencies(rtabmap_sync ${Libraries})
-ament_target_dependencies(rtabmap_plugins ${Libraries})
-
-if("$ENV{ROS_DISTRO}" STRGREATER_EQUAL "humble")
-  rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-
-  target_link_libraries(rtabmap_common ${cpp_typesupport_target})
-  target_link_libraries(rtabmap_sync rtabmap_common ${cpp_typesupport_target})
-  target_link_libraries(rtabmap_plugins rtabmap_common ${cpp_typesupport_target})
-else()
-  # foxy, galatic
-  target_link_libraries(rtabmap_common)
-  target_link_libraries(rtabmap_sync rtabmap_common)
-  target_link_libraries(rtabmap_plugins rtabmap_common)
-
-  rosidl_target_interfaces(rtabmap_common ${PROJECT_NAME} "rosidl_typesupport_cpp")
-  rosidl_target_interfaces(rtabmap_sync ${PROJECT_NAME} "rosidl_typesupport_cpp")
-  rosidl_target_interfaces(rtabmap_plugins ${PROJECT_NAME} "rosidl_typesupport_cpp")
-
-  function(rosidl_get_typesupport_target var generate_interfaces_target typesupport_name)
-    rosidl_target_interfaces(${var} ${generate_interfaces_target} ${typesupport_name})
-  endfunction()
-  add_definitions(-DPRE_ROS_HUMBLE)
-endif()
-
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDOdometry")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoOdometry")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::ICPOdometry")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDRelay")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDSync")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoSync")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudXYZ")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudXYZRGB")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudToDepthImage")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::ObstaclesDetection")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudAggregator")
-rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudAssembler")
-
-rclcpp_components_register_nodes(rtabmap_sync "rtabmap_ros::CoreWrapper")
-
-add_executable(rtabmap_node src/CoreNode.cpp)
-ament_target_dependencies(rtabmap_node ${Libraries})
-target_link_libraries(rtabmap_node rtabmap_sync rtabmap_common)
-set_target_properties(rtabmap_node PROPERTIES OUTPUT_NAME "rtabmap")
-
-add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
-ament_target_dependencies(rtabmap_rgbd_odometry ${Libraries})
-target_link_libraries(rtabmap_rgbd_odometry rtabmap_plugins)
-set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
-
-add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
-ament_target_dependencies(rtabmap_stereo_odometry ${Libraries})
-target_link_libraries(rtabmap_stereo_odometry rtabmap_plugins)
-set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
-
-#add_executable(rtabmap_rgbdicp_odometry src/RGBDICPOdometryNode.cpp)
-#ament_target_dependencies(rtabmap_rgbdicp_odometry ${Libraries})
-#set_target_properties(rtabmap_rgbdicp_odometry PROPERTIES OUTPUT_NAME "rgbdicp_odometry")
-
-add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
-ament_target_dependencies(rtabmap_icp_odometry ${Libraries})
-target_link_libraries(rtabmap_icp_odometry rtabmap_plugins)
-set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
-
-add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
-ament_target_dependencies(rtabmap_rgbd_sync ${Libraries})
-target_link_libraries(rtabmap_rgbd_sync rtabmap_plugins)
-set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
-
-add_executable(rtabmap_rgbdx_sync src/RGBDXSyncNode.cpp)
-ament_target_dependencies(rtabmap_rgbdx_sync ${Libraries})
-target_link_libraries(rtabmap_rgbdx_sync rtabmap_plugins)
-set_target_properties(rtabmap_rgbdx_sync PROPERTIES OUTPUT_NAME "rgbdx_sync")
-
-add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
-ament_target_dependencies(rtabmap_stereo_sync ${Libraries})
-target_link_libraries(rtabmap_stereo_sync rtabmap_plugins)
-set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
-
-add_executable(rtabmap_rgb_sync src/RGBSyncNode.cpp)
-ament_target_dependencies(rtabmap_rgb_sync ${Libraries})
-target_link_libraries(rtabmap_rgb_sync rtabmap_plugins)
-set_target_properties(rtabmap_rgb_sync PROPERTIES OUTPUT_NAME "rgb_sync")
-
-add_executable(rtabmap_rgbd_relay src/RGBDRelayNode.cpp)
-ament_target_dependencies(rtabmap_rgbd_relay ${Libraries})
-target_link_libraries(rtabmap_rgbd_relay rtabmap_plugins)
-set_target_properties(rtabmap_rgbd_relay PROPERTIES OUTPUT_NAME "rgbd_relay")
-
-add_executable(rtabmap_rgbd_split src/RGBDSplitNode.cpp)
-ament_target_dependencies(rtabmap_rgbd_split ${Libraries})
-target_link_libraries(rtabmap_rgbd_split rtabmap_plugins)
-set_target_properties(rtabmap_rgbd_split PROPERTIES OUTPUT_NAME "rgbd_split")
-
-add_executable(rtabmap_point_cloud_xyz src/PointCloudXYZNode.cpp)
-ament_target_dependencies(rtabmap_point_cloud_xyz ${Libraries})
-target_link_libraries(rtabmap_point_cloud_xyz rtabmap_plugins)
-set_target_properties(rtabmap_point_cloud_xyz PROPERTIES OUTPUT_NAME "point_cloud_xyz")
-
-add_executable(rtabmap_point_cloud_xyzrgb src/PointCloudXYZRGBNode.cpp)
-ament_target_dependencies(rtabmap_point_cloud_xyzrgb ${Libraries})
-target_link_libraries(rtabmap_point_cloud_xyzrgb rtabmap_plugins)
-set_target_properties(rtabmap_point_cloud_xyzrgb PROPERTIES OUTPUT_NAME "point_cloud_xyzrgb")
-
-add_executable(rtabmap_obstacles_detection src/ObstaclesDetectionNode.cpp)
-ament_target_dependencies(rtabmap_obstacles_detection ${Libraries})
-target_link_libraries(rtabmap_obstacles_detection rtabmap_plugins)
-set_target_properties(rtabmap_obstacles_detection PROPERTIES OUTPUT_NAME "obstacles_detection")
-
-add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
-ament_target_dependencies(rtabmap_point_cloud_aggregator ${Libraries})
-target_link_libraries(rtabmap_point_cloud_aggregator rtabmap_plugins)
-set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "point_cloud_aggregator")
-
-add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
-ament_target_dependencies(rtabmap_point_cloud_assembler ${Libraries})
-target_link_libraries(rtabmap_point_cloud_assembler rtabmap_plugins)
-set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
-
-#add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
-#ament_target_dependencies(rtabmap_map_optimizer rtabmap_common)
-#set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
-
-#add_executable(rtabmap_map_assembler src/MapAssemblerNode.cpp)
-#ament_target_dependencies(rtabmap_map_assembler rtabmap_common)
-#set_target_properties(rtabmap_map_assembler PROPERTIES OUTPUT_NAME "map_assembler")
-
-#add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
-#ament_target_dependencies(rtabmap_imu_to_tf ${Libraries})
-#set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
-
-add_executable(rtabmap_lidar_deskewing src/LidarDeskewingNode.cpp)
-ament_target_dependencies(rtabmap_lidar_deskewing ${Libraries})
-target_link_libraries(rtabmap_lidar_deskewing rtabmap_plugins)
-set_target_properties(rtabmap_lidar_deskewing PROPERTIES OUTPUT_NAME "lidar_deskewing")
-
-#IF(NOT WIN32)
-#add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
-#ament_target_dependencies(rtabmap_wifi_signal_pub rtabmap_common)
-#set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
-#ENDIF(NOT WIN32)
-#add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
-#ament_target_dependencies(rtabmap_wifi_signal_sub rtabmap_common)
-#set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
-
-# If find_object_2d is found, add save objects example
-#IF(find_object_2d_FOUND)
-#    MESSAGE(STATUS "WITH find_object_2d")
-#    include_directories(${find_object_2d_INCLUDE_DIRS})
-#    add_executable(rtabmap_save_objects_example src/SaveObjectsExample.cpp)
-#    ament_target_dependencies(rtabmap_save_objects_example ${Libraries} rtabmap_common ${find_object_2d_LIBRARIES})
-#    set_target_properties(rtabmap_save_objects_example PROPERTIES OUTPUT_NAME "save_objects_example")
-#ENDIF(find_object_2d_FOUND)
-
-#add_executable(rtabmap_external_loop_detectionexample src/ExternalLoopDetectionExample.cpp)
-#add_dependencies(rtabmap_external_loop_detectionexample ${${PROJECT_NAME}_EXPORTED_TARGETS})
-#ament_target_dependencies(rtabmap_external_loop_detectionexample ${Libraries} rtabmap_common)
-#set_target_properties(rtabmap_external_loop_detectionexample PROPERTIES OUTPUT_NAME "external_loop_detection_example")
-
-#add_executable(rtabmap_camera src/CameraNode.cpp)
-#add_dependencies(rtabmap_camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
-#ament_target_dependencies(rtabmap_camera ${Libraries})
-#set_target_properties(rtabmap_camera PROPERTIES OUTPUT_NAME "camera")
-
-#add_executable(rtabmap_stereo_camera src/StereoCameraNode.cpp)
-#ament_target_dependencies(rtabmap_stereo_camera rtabmap_common)
-#set_target_properties(rtabmap_stereo_camera PROPERTIES OUTPUT_NAME "stereo_camera")
-
-IF(RTABMap_gui_FOUND)
-    add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
-    ament_target_dependencies(rtabmapviz ${Libraries})
-    target_link_libraries(rtabmapviz rtabmap_sync rtabmap_common)
-ELSE()
-    MESSAGE(WARNING "Found RTAB-Map built without its GUI library. Node rtabmapviz will not be built!")
-ENDIF()
-
-#add_executable(rtabmap_data_player src/DbPlayerNode.cpp)
-#ament_target_dependencies(rtabmap_data_player rtabmap_common)
-#set_target_properties(rtabmap_data_player PROPERTIES OUTPUT_NAME "data_player")
-
-#add_executable(rtabmap_odom_msg_to_tf src/OdomMsgToTFNode.cpp)
-#ament_target_dependencies(rtabmap_odom_msg_to_tf rtabmap_common)
-#set_target_properties(rtabmap_odom_msg_to_tf PROPERTIES OUTPUT_NAME "odom_msg_to_tf")
-
-add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
-ament_target_dependencies(rtabmap_pointcloud_to_depthimage ${Libraries})
-target_link_libraries(rtabmap_pointcloud_to_depthimage rtabmap_plugins)
-set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
-
-# Only required when using messages built from the same package
-# https://index.ros.org/doc/ros2/Tutorials/Rosidl-Tutorial/
-get_default_rmw_implementation(rmw_implementation)
-find_package("${rmw_implementation}" REQUIRED)
-get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp")
-
-foreach(typesupport_impl ${typesupport_impls})
-  rosidl_get_typesupport_target(rtabmap_rgbd_odometry
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_stereo_odometry
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_icp_odometry
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_rgbd_relay
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_rgbd_split
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_rgbd_sync
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_rgbdx_sync
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_rgb_sync
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_stereo_sync
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_pointcloud_to_depthimage
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_point_cloud_xyzrgb
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  rosidl_get_typesupport_target(rtabmap_node
-    ${PROJECT_NAME} ${typesupport_impl}
-  )
-  IF(RTABMAP_GUI)
-    rosidl_get_typesupport_target(rtabmapviz
-      ${PROJECT_NAME} ${typesupport_impl}
-    )
-  ENDIF()
-endforeach()
-
-# If rviz is found, add plugins
-IF(rviz_default_plugins_FOUND)
-
-    ## We also use Ogre for rviz plugins
-    #include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
-    #pkg_check_modules(OGRE OGRE)
-    include_directories( ${OGRE_INCLUDE_DIRS} )
-    #link_directories( ${OGRE_LIBRARY_DIRS} )
-
-    MESSAGE(STATUS "WITH rviz")
-
-    ## RVIZ plugin
-    IF(QT4_FOUND)
-	    qt4_wrap_cpp(MOC_FILES
-	      src/rviz/MapCloudDisplay.h
-	      src/rviz/MapGraphDisplay.h
-	      src/rviz/InfoDisplay.h
-	      #src/rviz/OrbitOrientedViewController.h
-	    )
-    ELSE()
-	   qt5_wrap_cpp(MOC_FILES
-	      src/rviz/MapCloudDisplay.h
-	      src/rviz/MapGraphDisplay.h
-	      src/rviz/InfoDisplay.h
-	      #src/rviz/OrbitOrientedViewController.h
-	    )
-    ENDIF()
-    
-    # tf:message_filters, mixing boost and Qt signals
-    set_property(
-       SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
-       PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
-    )
-    add_library(rtabmap_rviz_plugins SHARED
-       src/rviz/MapCloudDisplay.cpp
-       src/rviz/MapGraphDisplay.cpp
-       src/rviz/InfoDisplay.cpp
-       #src/rviz/OrbitOrientedViewController.cpp
-       ${MOC_FILES}
-    )
-    
-    ament_target_dependencies(rtabmap_rviz_plugins
-      ${Libraries} 
-      rviz_common 
-      rviz_rendering 
-      rviz_default_plugins
-    )
-    #ament_export_interfaces(rtabmap_rviz_plugins HAS_LIBRARY_TARGET)
-    target_link_libraries(rtabmap_rviz_plugins rtabmap_common)
-    IF(Qt5_FOUND)
-        QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
-    ENDIF(Qt5_FOUND)
-
-    foreach(typesupport_impl ${typesupport_impls})
-	  rosidl_get_typesupport_target(rtabmap_rviz_plugins
-	    ${PROJECT_NAME} ${typesupport_impl}
-	  )
-    endforeach()
-    
-    # Causes the visibility macros to use dllexport rather than dllimport,
-    # which is appropriate when building the dll but not consuming it.
-    target_compile_definitions(rtabmap_rviz_plugins PRIVATE "RTABMAP_ROS_BUILDING_LIBRARY")
-
-    # prevent pluginlib from using boost
-    target_compile_definitions(rtabmap_rviz_plugins PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
-    
-    pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml)
-
-ENDIF(rviz_default_plugins_FOUND)
-
-# If costmap_2d is found, add the plugins
-#IF(costmap_2d_FOUND)
-#    MESSAGE(STATUS "WITH costmap_2d")
-#    IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
-#      ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
-#    ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
-#    include_directories(${costmap_2d_INCLUDE_DIRS})
-#    add_library(rtabmap_costmap_plugins
-#       src/costmap_2d/static_layer.cpp
-#    )
-#    add_library(rtabmap_costmap_plugins2
-#       src/costmap_2d/voxel_layer.cpp
-#    )
-#    ament_target_dependencies(rtabmap_costmap_plugins
-#      ${costmap_2d_LIBRARIES}
-#    )
-#    ament_target_dependencies(rtabmap_costmap_plugins2
-#      ${costmap_2d_LIBRARIES}
-#    )
-#    add_executable(rtabmap_costmap_voxel_markers src/costmap_2d/voxel_markers.cpp)
-#    ament_target_dependencies(rtabmap_costmap_voxel_markers ${costmap_2d_LIBRARIES})
-#    set_target_properties(rtabmap_costmap_voxel_markers PROPERTIES OUTPUT_NAME "voxel_markers")
-#ENDIF(costmap_2d_FOUND)
-
-ament_export_dependencies(
-   rosidl_default_runtime
-   ${Libraries}
-)
-ament_export_include_directories(include)
-ament_export_targets(${PROJECT_NAME})          # To include downstream with targets
-ament_export_libraries(rtabmap_common rtabmap_sync) # To include downstream without targets
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-#install(PROGRAMS
-#  scripts/patrol.py
-#  scripts/objects_to_tags.py
-#  scripts/point_to_tf.py
-#  scripts/transform_to_tf.py
-#  scripts/yaml_to_camera_info.py
-#  scripts/netvlad_tf_ros.py
-#  scripts/wifi_signal_pub.py
-#  scripts/gazebo_ground_truth.py
-#  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-#)
-
-# Install Python executables
-install(PROGRAMS
-  scripts/transform_to_tf.py
-  scripts/yaml_to_camera_info.py
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-## Mark executables and/or libraries for installation
-install(TARGETS
-   rtabmap_sync
-   rtabmap_common
-   EXPORT ${PROJECT_NAME}
-   ARCHIVE DESTINATION lib
-   LIBRARY DESTINATION lib
-   RUNTIME DESTINATION bin
-)
-install(TARGETS
-   rtabmap_plugins 
-   ARCHIVE DESTINATION lib
-   LIBRARY DESTINATION lib
-   RUNTIME DESTINATION bin
-)
-
-install(TARGETS 
-   rtabmap_node 
-   rtabmap_rgbd_odometry 
-   rtabmap_icp_odometry
-#   rtabmap_rgbdicp_odometry 
-   rtabmap_stereo_odometry
-#   rtabmap_map_assembler
-#   rtabmap_map_optimizer
-#   rtabmap_data_player
-#   rtabmap_odom_msg_to_tf
-   rtabmap_pointcloud_to_depthimage
-   rtabmap_point_cloud_xyz
-   rtabmap_point_cloud_xyzrgb
-   rtabmap_obstacles_detection
-   rtabmap_point_cloud_aggregator
-   rtabmap_point_cloud_assembler
-#   rtabmap_camera
-   rtabmap_rgbd_sync
-   rtabmap_rgbdx_sync
-   rtabmap_stereo_sync
-   rtabmap_rgb_sync
-   rtabmap_rgbd_relay
-   rtabmap_rgbd_split
-#   rtabmap_wifi_signal_sub
-   DESTINATION lib/${PROJECT_NAME}
-)
-IF(RTABMap_gui_FOUND)
-    install(TARGETS 
-       rtabmapviz
-       DESTINATION lib/${PROJECT_NAME}
-     )
-ENDIF(RTABMap_gui_FOUND)
-
-## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
-   DESTINATION include/${PROJECT_NAME}
-   FILES_MATCHING PATTERN "*.h"
-   PATTERN ".svn" EXCLUDE
-)
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-#install(FILES
-#   launch/ros2/turtlebot3_scan.launch.py
-#   launch/ros2/turtlebot3_rgbd.launch.py
-#   launch/ros2/turtlebot3_rgbd_sync.launch.py
-#   launch/ros2/realsense_d400.launch.py
-#   launch/ros2/rtabmap.launch.py
-#   launch/rgbd_mapping.launch
-#   launch/stereo_mapping.launch
-#   launch/data_recorder.launch
-#   launch/rgbd_mapping_kinect2.launch
-#   DESTINATION share/${PROJECT_NAME}/launch
-#)
-install(DIRECTORY 
-   launch/ros2/.
-   launch/calibration
-#   launch/data
-#   launch/demo
-   DESTINATION share/${PROJECT_NAME}/launch
-)
-
-## install plugins/nodelets xml
-#install(FILES
-#   nodelet_plugins.xml
-#   DESTINATION share/${PROJECT_NAME}
-#)
-IF(rviz_default_plugins_FOUND)
-  install(
-    TARGETS rtabmap_rviz_plugins
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin
-    INCLUDES DESTINATION include
-)
-ENDIF(rviz_default_plugins_FOUND)
-
-#IF(costmap_2d_FOUND)
-#    install(TARGETS 
-#       rtabmap_costmap_plugins
-#       rtabmap_costmap_plugins2
-#       rtabmap_costmap_voxel_markers
-#      DESTINATION lib
-#     )
-#    install(FILES
-#       costmap_plugins.xml
-#       DESTINATION share/${PROJECT_NAME}
-#    )
-#ENDIF(costmap_2d_FOUND)
-
-#############
-## Testing ##
-#############
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()

Makefile

@@ -1,2 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
-

cfg/Camera.cfg

@@ -1,13 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "rtabmap_ros"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-gen.add("device_id", int_t, 0, "Camera device ID", 0, 0, 7)
-gen.add("frame_rate", double_t, 0, "Frame rate", 15.0, 0.0, 100.0)
-gen.add("video_or_images_path", str_t, 0, "Video or images directory path", "")
-gen.add("pause", bool_t, 0, "Pause", False)
-
-exit(gen.generate(PACKAGE, "rtabmap_ros", "Camera"))

costmap_plugins.xml

@@ -1,13 +0,0 @@
-<class_libraries>
-  <library path="lib/librtabmap_costmap_plugins">
-    <class type="rtabmap_ros::StaticLayer"     base_class_type="costmap_2d::Layer">
-      <description>Listens to OccupancyGrid messages and copies them in, like from map_server.</description>
-    </class>
-  </library>
-  <library path="lib/librtabmap_costmap_plugins2">
-    <class type="rtabmap_ros::VoxelLayer"     base_class_type="costmap_2d::Layer">
-      <description>Similar to obstacle costmap, but uses 3D voxel grid to store data.</description>
-    </class>
-  </library>
-</class_libraries>
-

eclipse-launch.sh

@@ -1,11 +0,0 @@
-#!/bin/bash
-export GDK_NATIVE_WINDOWS=1
-
-## Source ROS setup.sh (adjust to your version : boxturtle, cturtle, diamondback, e...)
-source /opt/ros/diamondback/setup.sh
-
-## Setup ROS_PACKAGE_PATH
-export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/workspace/ros-pkg
-
-## Start eclipse
-~/eclipse/eclipse

eclipse-launch/eclipse-launch.sh

@@ -1,10 +0,0 @@
-#!/bin/bash
-
-## Source ROS setup.sh (adjust to your version : boxturtle, cturtle, diamondback, e...)
-source /opt/ros/groovy/setup.bash
-
-## Setup ROS_PACKAGE_PATH
-export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/workspace/ros-pkg
-
-## Start eclipse
-/usr/bin/eclipse

eclipse-launch/eclipse.desktop

@@ -1,10 +0,0 @@
-[Desktop Entry]
-Name=Eclipse
-GenericName=eclipse
-Comment=eclipse
-Keywords=eclipse
-Exec=/PATH/TO/THIS/DIRECTORY/eclipse-launch.sh
-Terminal=false
-Type=Application
-StartupNotify=true
-Icon=/PATH/TO/THIS/DIRECTORY/eclipse48.png

include/rtabmap_ros/CommonDataSubscriber.h

@@ -1,609 +0,0 @@
-/*
-Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of the Universite de Sherbrooke nor the
-      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
-
-#ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
-#define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
-
-#include <message_filters/subscriber.h>
-#include <message_filters/synchronizer.h>
-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/sync_policies/exact_time.h>
-
-#include <image_transport/image_transport.hpp>
-#include <image_transport/subscriber_filter.hpp>
-
-#include <cv_bridge/cv_bridge.h>
-
-#include <sensor_msgs/msg/point_cloud2.hpp>
-#include <sensor_msgs/msg/image.hpp>
-#include <sensor_msgs/msg/camera_info.hpp>
-#include <sensor_msgs/msg/laser_scan.hpp>
-
-#include <nav_msgs/msg/odometry.hpp>
-
-#include <rtabmap_ros/msg/rgbd_image.hpp>
-#include <rtabmap_ros/msg/rgbd_images.hpp>
-#include <rtabmap_ros/msg/user_data.hpp>
-#include <rtabmap_ros/msg/odom_info.hpp>
-#include <rtabmap_ros/msg/scan_descriptor.hpp>
-#include <rtabmap_ros/CommonDataSubscriberDefines.h>
-
-namespace rtabmap_ros {
-
-class CommonDataSubscriber {
-public:
-	CommonDataSubscriber(rclcpp::Node & node, bool gui);
-	virtual ~CommonDataSubscriber();
-
-	bool isSubscribedToDepth() const  {return subscribedToDepth_;}
-	bool isSubscribedToStereo() const {return subscribedToStereo_;}
-	bool isSubscribedToRGB() const  {return subscribedToRGB_;}
-	bool isSubscribedToOdom() const  {return subscribedToOdom_;}
-	bool isSubscribedToRGBD() const   {return subscribedToRGBD_;}
-	bool isSubscribedToScan2d() const {return subscribedToScan2d_;}
-	bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
-	bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
-	bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d() || isSubscribedToRGB() || isSubscribedToOdom();}
-	int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
-	int getQueueSize() const {return queueSize_;}
-	bool isApproxSync() const {return approxSync_;}
-	const std::string & name() const {return name_;}
-
-protected:
-	void setupCallbacks(rclcpp::Node & node);
-	virtual void commonMultiCameraCallback(
-				const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
-				const rtabmap_ros::msg::UserData::ConstSharedPtr & userDataMsg,
-				const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
-				const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
-				const std::vector<sensor_msgs::msg::CameraInfo> & cameraInfoMsgs,
-				const std::vector<sensor_msgs::msg::CameraInfo> & depthCameraInfoMsgs,
-				const sensor_msgs::msg::LaserScan& scanMsg,
-				const sensor_msgs::msg::PointCloud2& scan3dMsg,
-				const rtabmap_ros::msg::OdomInfo::ConstSharedPtr& odomInfoMsg,
-				const std::vector<rtabmap_ros::msg::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::msg::GlobalDescriptor>(),
-				const std::vector<std::vector<rtabmap_ros::msg::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_ros::msg::KeyPoint> >(),
-				const std::vector<std::vector<rtabmap_ros::msg::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_ros::msg::Point3f> >(),
-				const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
-	virtual void commonLaserScanCallback(
-				const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
-				const rtabmap_ros::msg::UserData::ConstSharedPtr & userDataMsg,
-				const sensor_msgs::msg::LaserScan & scanMsg,
-				const sensor_msgs::msg::PointCloud2 & scan3dMsg,
-				const rtabmap_ros::msg::OdomInfo::ConstSharedPtr& odomInfoMsg,
-				const rtabmap_ros::msg::GlobalDescriptor & globalDescriptor = rtabmap_ros::msg::GlobalDescriptor()) = 0;
-	virtual void commonOdomCallback(
-				const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
-				const rtabmap_ros::msg::UserData::ConstSharedPtr & userDataMsg,
-				const rtabmap_ros::msg::OdomInfo::ConstSharedPtr& odomInfoMsg) = 0;
-
-	void commonSingleCameraCallback(
-				const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
-				const rtabmap_ros::msg::UserData::ConstSharedPtr & userDataMsg,
-				const cv_bridge::CvImageConstPtr & imageMsg,
-				const cv_bridge::CvImageConstPtr & depthMsg,
-				const sensor_msgs::msg::CameraInfo & rgbCameraInfoMsg,
-				const sensor_msgs::msg::CameraInfo & depthCameraInfoMsg,
-				const sensor_msgs::msg::LaserScan & scanMsg,
-				const sensor_msgs::msg::PointCloud2 & scan3dMsg,
-				const rtabmap_ros::msg::OdomInfo::ConstSharedPtr& odomInfoMsg,
-				const std::vector<rtabmap_ros::msg::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_ros::msg::GlobalDescriptor>(),
-				const std::vector<rtabmap_ros::msg::KeyPoint> & localKeyPoints = std::vector<rtabmap_ros::msg::KeyPoint>(),
-				const std::vector<rtabmap_ros::msg::Point3f> & localPoints3d = std::vector<rtabmap_ros::msg::Point3f>(),
-				const cv::Mat & localDescriptors = cv::Mat());
-
-private:
-	void callbackCalled() {callbackCalled_ = true;}
-	void setupDepthCallbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeScanDesc,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-	void setupStereoCallbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-	void setupRGBCallbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeScanDesc,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-	void setupRGBDCallbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeScanDesc,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-	void setupRGBDXCallbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeScanDesc,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-#ifdef RTABMAP_SYNC_MULTI_RGBD
-	void setupRGBD2Callbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeScanDesc,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-	void setupRGBD3Callbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeScanDesc,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-	void setupRGBD4Callbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeScanDesc,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync); 
-	void setupRGBD5Callbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeScanDesc,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-	void setupRGBD6Callbacks(
-			rclcpp::Node & node,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeScanDesc,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-#endif
-	void setupScanCallbacks(
-			rclcpp::Node & node,
-			bool subscribeScan2d,
-			bool subscribeScanDesc,
-			bool subscribeOdom,
-			bool subscribeUserData,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-	void setupOdomCallbacks(
-			rclcpp::Node & node,
-			bool subscribeUserData,
-			bool subscribeOdomInfo,
-			int queueSize,
-			bool approxSync);
-
-protected:
-	std::string subscribedTopicsMsg_;
-	int queueSize_;
-	rmw_qos_reliability_policy_t qosOdom_;
-	rmw_qos_reliability_policy_t qosImage_;
-	rmw_qos_reliability_policy_t qosCameraInfo_;
-	rmw_qos_reliability_policy_t qosScan_;
-	rmw_qos_reliability_policy_t qosUserData_;
-
-private:
-	bool approxSync_;
-	std::thread* warningThread_;
-	bool callbackCalled_;
-	bool subscribedToDepth_;
-	bool subscribedToStereo_;
-	bool subscribedToRGB_;
-	bool subscribedToOdom_;
-	bool subscribedToRGBD_;
-	bool subscribedToScan2d_;
-	bool subscribedToScan3d_;
-	bool subscribedToScanDescriptor_;
-	bool subscribedToOdomInfo_;
-	bool subscribedToUserData_;
-	std::string odomFrameId_;
-	int rgbdCameras_;
-	std::string name_;
-
-	//for depth and rgb-only callbacks
-	image_transport::SubscriberFilter imageSub_;
-	image_transport::SubscriberFilter imageDepthSub_;
-	message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_;
-
-	//for rgbd callback
-	rclcpp::Subscription<rtabmap_ros::msg::RGBDImage>::ConstSharedPtr rgbdSub_;
-	std::vector<message_filters::Subscriber<rtabmap_ros::msg::RGBDImage>*> rgbdSubs_;
-	rclcpp::Subscription<rtabmap_ros::msg::RGBDImages>::ConstSharedPtr rgbdXSubOnly_;
-	message_filters::Subscriber<rtabmap_ros::msg::RGBDImages> rgbdXSub_;
-
-	//stereo callback
-	image_transport::SubscriberFilter imageRectLeft_;
-	image_transport::SubscriberFilter imageRectRight_;
-	message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoLeft_;
-	message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoRight_;
-
-	message_filters::Subscriber<nav_msgs::msg::Odometry> odomSub_;
-	message_filters::Subscriber<rtabmap_ros::msg::UserData> userDataSub_;
-	message_filters::Subscriber<sensor_msgs::msg::LaserScan> scanSub_;
-	message_filters::Subscriber<sensor_msgs::msg::PointCloud2> scan3dSub_;
-	message_filters::Subscriber<rtabmap_ros::msg::ScanDescriptor> scanDescSub_;
-	message_filters::Subscriber<rtabmap_ros::msg::OdomInfo> odomInfoSub_;
-
-	rclcpp::Subscription<sensor_msgs::msg::LaserScan>::ConstSharedPtr scan2dSubOnly_;
-	rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::ConstSharedPtr scan3dSubOnly_;
-	rclcpp::Subscription<rtabmap_ros::msg::ScanDescriptor>::ConstSharedPtr scanDescSubOnly_;
-	rclcpp::Subscription<nav_msgs::msg::Odometry>::ConstSharedPtr odomSubOnly_;
-
-	// RGB + Depth
-	DATA_SYNCS3(depth, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS4(depthScan2d, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS4(depthScan3d, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS4(depthScanDesc, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS4(depthInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS5(depthScan2dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS5(depthScan3dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS5(depthScanDescInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-
-	// RGB + Depth + Odom
-	DATA_SYNCS4(depthOdom, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS5(depthOdomScan2d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS5(depthOdomScan3d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS5(depthOdomScanDesc, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS5(depthOdomInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS6(depthOdomScanDescInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-
-#ifdef RTABMAP_SYNC_USER_DATA
-	// RGB + Depth + User Data
-	DATA_SYNCS4(depthData, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS5(depthDataScan2d, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS5(depthDataScan3d, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS5(depthDataScanDesc, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS5(depthDataInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS6(depthDataScan2dInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS6(depthDataScan3dInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS6(depthDataScanDescInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-
-	// RGB + Depth + Odom + User Data
-	DATA_SYNCS5(depthOdomData, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS6(depthOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS6(depthOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS6(depthOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS6(depthOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS7(depthOdomDataScanDescInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-#endif
-
-	// Stereo
-	DATA_SYNCS4(stereo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS5(stereoInfo, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-
-	// Stereo + Odom
-	DATA_SYNCS5(stereoOdom, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS6(stereoOdomInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-
-	// RGB-only
-	DATA_SYNCS2(rgb, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS3(rgbScan2d, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS3(rgbScan3d, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS3(rgbScanDesc, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS3(rgbInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS4(rgbScan2dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS4(rgbScan3dInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS4(rgbScanDescInfo, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-
-	// RGB-only + Odom
-	DATA_SYNCS3(rgbOdom, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS4(rgbOdomScan2d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS4(rgbOdomScan3d, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS4(rgbOdomScanDesc, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS4(rgbOdomInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS5(rgbOdomScan2dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS5(rgbOdomScan3dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS5(rgbOdomScanDescInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-
-#ifdef RTABMAP_SYNC_USER_DATA
-	// RGB-only + User Data
-	DATA_SYNCS3(rgbData, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS4(rgbDataScan2d, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS4(rgbDataScan3d, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS4(rgbDataScanDesc, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS4(rgbDataInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS5(rgbDataScan2dInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS5(rgbDataScan3dInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS5(rgbDataScanDescInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-
-	// RGB-only + Odom + User Data
-	DATA_SYNCS4(rgbOdomData, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo)
-	DATA_SYNCS5(rgbOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS5(rgbOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS5(rgbOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS5(rgbOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS6(rgbOdomDataScan2dInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS6(rgbOdomDataScan3dInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS6(rgbOdomDataScanDescInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-#endif
-
-	// 1 RGBD
-	void rgbdCallback(const rtabmap_ros::msg::RGBDImage::ConstSharedPtr);
-	DATA_SYNCS2(rgbdScan2d, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS2(rgbdScan3d, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS2(rgbdScanDesc, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS2(rgbdInfo, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-	// 1 RGBD + Odom
-	DATA_SYNCS2(rgbdOdom, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS3(rgbdOdomScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS3(rgbdOdomScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS3(rgbdOdomInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-#ifdef RTABMAP_SYNC_USER_DATA
-	// 1 RGBD + User Data
-	DATA_SYNCS2(rgbdData, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS3(rgbdDataScan2d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS3(rgbdDataScan3d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS3(rgbdDataScanDesc, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS3(rgbdDataInfo, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-	// 1 RGBD + Odom + User Data
-	DATA_SYNCS3(rgbdOdomData, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS4(rgbdOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS4(rgbdOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-#endif
-
-	// X RGBD
-	void rgbdXCallback(const rtabmap_ros::msg::RGBDImages::ConstSharedPtr);
-	DATA_SYNCS2(rgbdXScan2d, rtabmap_ros::msg::RGBDImages, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS2(rgbdXScan3d, rtabmap_ros::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS2(rgbdXScanDesc, rtabmap_ros::msg::RGBDImages, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS2(rgbdXInfo, rtabmap_ros::msg::RGBDImages, rtabmap_ros::msg::OdomInfo)
-
-	// X RGBD + Odom
-	DATA_SYNCS2(rgbdXOdom, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImages)
-	DATA_SYNCS3(rgbdXOdomScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImages, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS3(rgbdXOdomScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS3(rgbdXOdomScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImages, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS3(rgbdXOdomInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImages, rtabmap_ros::msg::OdomInfo)
-
-#ifdef RTABMAP_SYNC_USER_DATA
-	// X RGBD + User Data
-	DATA_SYNCS2(rgbdXData, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages)
-	DATA_SYNCS3(rgbdXDataScan2d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS3(rgbdXDataScan3d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS3(rgbdXDataScanDesc, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS3(rgbdXDataInfo, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages, rtabmap_ros::msg::OdomInfo)
-
-	// X RGBD + Odom + User Data
-	DATA_SYNCS3(rgbdXOdomData, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages)
-	DATA_SYNCS4(rgbdXOdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS4(rgbdXOdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS4(rgbdXOdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS4(rgbdXOdomDataInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImages, rtabmap_ros::msg::OdomInfo)
-#endif
-
-#ifdef RTABMAP_SYNC_MULTI_RGBD
-	// 2 RGBD
-	DATA_SYNCS2(rgbd2, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS3(rgbd2Scan2d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS3(rgbd2Scan3d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS3(rgbd2ScanDesc, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS3(rgbd2Info, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-	// 2 RGBD + Odom
-	DATA_SYNCS3(rgbd2Odom, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-#ifdef RTABMAP_SYNC_USER_DATA
-	// 2 RGBD + User Data
-	DATA_SYNCS3(rgbd2Data, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS4(rgbd2DataScan2d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS4(rgbd2DataScan3d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS4(rgbd2DataScanDesc, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS4(rgbd2DataInfo, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-	// 2 RGBD + Odom + User Data
-	DATA_SYNCS4(rgbd2OdomData, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS5(rgbd2OdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS5(rgbd2OdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-#endif
-
-	// 3 RGBD
-	DATA_SYNCS3(rgbd3, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS4(rgbd3Scan2d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS4(rgbd3Scan3d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS4(rgbd3ScanDesc, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS4(rgbd3Info, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-	// 3 RGBD + Odom
-	DATA_SYNCS4(rgbd3Odom, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS5(rgbd3OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-#ifdef RTABMAP_SYNC_USER_DATA
-	// 3 RGBD + User Data
-	DATA_SYNCS4(rgbd3Data, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS5(rgbd3DataScan2d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS5(rgbd3DataScan3d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS5(rgbd3DataScanDesc, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS5(rgbd3DataInfo, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-	// 3 RGBD + Odom + User Data
-	DATA_SYNCS5(rgbd3OdomData, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS6(rgbd3OdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-#endif
-
-	// 4 RGBD
-	DATA_SYNCS4(rgbd4, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS5(rgbd4Scan2d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS5(rgbd4Scan3d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS5(rgbd4ScanDesc, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS5(rgbd4Info, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-	// 4 RGBD + Odom
-	DATA_SYNCS5(rgbd4Odom, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS6(rgbd4OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-#ifdef RTABMAP_SYNC_USER_DATA
-	// 4 RGBD + User Data
-	DATA_SYNCS5(rgbd4Data, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS6(rgbd4DataScan2d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS6(rgbd4DataScan3d, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS6(rgbd4DataInfo, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-	// 4 RGBD + Odom + User Data
-	DATA_SYNCS6(rgbd4OdomData, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-#endif
-
-	// 5 RGBD
-	DATA_SYNCS5(rgbd5, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS6(rgbd5Scan2d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS6(rgbd5Scan3d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS6(rgbd5ScanDesc, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS6(rgbd5Info, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-	// 5 RGBD + Odom
-	DATA_SYNCS6(rgbd5Odom, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS7(rgbd5OdomScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS7(rgbd5OdomScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS7(rgbd5OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS7(rgbd5OdomInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-	// 6 RGBD
-	DATA_SYNCS6(rgbd6, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS7(rgbd6Scan2d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS7(rgbd6Scan3d, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS7(rgbd6ScanDesc, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS7(rgbd6Info, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-	// 6 RGBD + Odom
-	DATA_SYNCS7(rgbd6Odom, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage)
-	DATA_SYNCS8(rgbd6OdomScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS8(rgbd6OdomScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS8(rgbd6OdomScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS8(rgbd6OdomInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::OdomInfo)
-
-#endif //RTABMAP_SYNC_MULTI_RGBD
-
-	// Scan
-	void scan2dCallback(const sensor_msgs::msg::LaserScan::ConstSharedPtr);
-	void scan3dCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr);
-	void scanDescCallback(const rtabmap_ros::msg::ScanDescriptor::ConstSharedPtr);
-	DATA_SYNCS2(scan2dInfo, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS2(scan3dInfo, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS2(scanDescInfo, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-
-	// Scan + Odom
-	DATA_SYNCS2(odomScan2d, nav_msgs::msg::Odometry, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS2(odomScan3d, nav_msgs::msg::Odometry, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS2(odomScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS3(odomScan2dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS3(odomScan3dInfo, nav_msgs::msg::Odometry, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS3(odomScanDescInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-
-#ifdef RTABMAP_SYNC_USER_DATA
-	// Scan + User Data
-	DATA_SYNCS2(dataScan2d, rtabmap_ros::msg::UserData, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS2(dataScan3d, rtabmap_ros::msg::UserData, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS2(dataScanDesc, rtabmap_ros::msg::UserData, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS3(dataScan2dInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS3(dataScan3dInfo, rtabmap_ros::msg::UserData, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS3(dataScanDescInfo, rtabmap_ros::msg::UserData, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-
-	// Scan + Odom + User Data
-	DATA_SYNCS3(odomDataScan2d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::LaserScan)
-	DATA_SYNCS3(odomDataScan3d, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::PointCloud2)
-	DATA_SYNCS3(odomDataScanDesc, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::ScanDescriptor)
-	DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::LaserScan, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, sensor_msgs::msg::PointCloud2, rtabmap_ros::msg::OdomInfo)
-	DATA_SYNCS4(odomDataScanDescInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::ScanDescriptor, rtabmap_ros::msg::OdomInfo)
-#endif
-
-	// Odom
-	void odomCallback(const nav_msgs::msg::Odometry::ConstSharedPtr);
-	DATA_SYNCS2(odomInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::OdomInfo)
-
-#ifdef RTABMAP_SYNC_USER_DATA
-	// Odom + User Data
-	DATA_SYNCS2(odomData, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData)
-	DATA_SYNCS3(odomDataInfo, nav_msgs::msg::Odometry, rtabmap_ros::msg::UserData, rtabmap_ros::msg::OdomInfo)
-#endif
-};
-
-} /* namespace rtabmap_ros */
-
-#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_ */

include/rtabmap_ros/PluginInterface.h

@@ -1,44 +0,0 @@
-#ifndef PLUGIN_INTERFACE_H_
-#define PLUGIN_INTERFACE_H_
-
-#include <rclcpp/rclcpp.hpp>
-#include <string>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-
-namespace rtabmap_ros
-{
-
-class PluginInterface
-{
-public:
-  PluginInterface();
-  virtual ~PluginInterface() {}
-
-  const std::string getName() const
-  {
-    return name_;
-  }
-
-  bool isEnabled() {
-    return enabled_;
-  }
-
-  void initialize(const std::string name);
-
-  virtual sensor_msgs::msg::PointCloud2 filterPointCloud(const sensor_msgs::msg::PointCloud2 msg) = 0;
-
-protected:
-  /** @brief This is called at the end of initialize().  Override to
-   * implement subclass-specific initialization.
-   **/
-  virtual void onInitialize() {}
-
-  bool enabled_;  ///< Currently this var is managed by subclasses. TODO: make this managed by this class and/or container class.
-  std::string name_;
-
-};
-
-}  // namespace rtabmap_ros
-
-#endif  // PLUGIN_INTERFACE_H_
-

launch/azimut3/az3_bag_mapping.launch

@@ -1,53 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <param name="use_sim_time" type="bool" value="True"/>
-
-  <!-- SLAM (robot side) -->
-  <!-- args: "delete_db_on_start" and "udebug" -->
-  <group ns="rtabmap">
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
-	  <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="/camera/data_throttled_image"/>
-  	  <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
-  	  <remap from="rgb/camera_info" to="/camera/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="1"/>             <!-- Do odometry correction with consecutive laser scans -->
-	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
-	  <param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>    <!-- Local loop closure detection with locations in STM -->
-	  <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>      <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
-	  <param name="LccIcp/Type" type="string" value="2"/>                       <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
-	  <param name="LccIcp2/Iterations" type="string" value="100"/>
-	  <param name="LccIcp2/VoxelSize" type="string" value="0"/>
-	  <param name="LccBow/MinInliers" type="string" value="5"/>                 <!-- 3D visual words minimum inliers to accept loop closure -->
-	  <param name="LccBow/MaxDepth" type="string" value="4.0"/>                 <!-- 3D visual words maximum depth 0=infinity -->
-	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>           <!-- 3D visual words correspondence distance -->
-	  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>             <!-- Update map only if the robot is moving -->
-	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>              <!-- Update map only if the robot is moving -->
-	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
-	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
-	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
-    </node>
-  </group>
-
-  <!-- send AZIMUT 3 urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
-
-  <!-- Visualisation -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_client.launch"/>
-
-</launch>

launch/azimut3/az3_bag_record.launch

@@ -1,37 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-  <!-- rosbag record camera/data_throttled_image/compressed camera/data_throttled_image_depth/compressedDepth camera/data_throttled_camera_info tf base_scan /base_controller/odom -->
-
-  <include file="$(find az3_bringup)/az3_standalone.launch"/>
-
-<!-- To control with only one joystick -->
-<include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>
-
-  <node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
-    <param name="scale_angular" value="1.5"/>
-    <param name="scale_linear" value="0.5"/>
-    <remap from="turtlebot_teleop_joystick/cmd_vel" to="base_controller/cmd_vel"/>
-  </node>
-
-  <node pkg="joy" type="joy_node" name="joystick"/>
-
-  <!-- OpenNI -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
-
-  <!-- Throttling messages -->
-  <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
-      <param name="rate" type="double" value="10.0"/>
-
-      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
-      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
-      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
-
-      <remap from="rgb/image_out"       to="data_throttled_image"/>
-      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
-      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
-    </node>
-  </group>
-
-</launch>

launch/azimut3/az3_db_record.launch

@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
-
-  <include file="$(find az3_bringup)/az3_standalone.launch"/>
-  <include file="$(find az3_bringup)/joystick.launch"/>
-
-  <!-- OpenNI -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
-
-  <!-- Throttling messages -->
-  <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
-      <param name="rate" type="double" value="10.0"/>
-
-      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
-      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
-      <remap from="rgb/camera_info_in" to="rgb/camera_info"/>
-
-      <remap from="rgb/image_out"       to="data_throttled_image"/>
-      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
-      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
-    </node>
-  </group>
-
-  <node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
-	<param name="output_file_name" value="az3_record.db" type="string"/>
-
-	<param name="frame_id" type="string" value="base_footprint"/>
-
-	<param name="subscribe_odometry" type="bool" value="true"/>
-	<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="camera/data_throttled_image"/>
-  	<remap from="depth/image" to="camera/data_throttled_image_depth"/>
-  	<remap from="rgb/camera_info" to="camera/data_throttled_camera_info"/>
-
-	<param name="queue_size" type="int" value="10"/>
-  </node>
-
-</launch>

launch/azimut3/az3_mapping_client.launch

@@ -1,34 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- Remote teleop -->
-  <!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
-
-  <!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
-  <!-- a relay on this machine, same for images -->
-  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
-  <node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
-  <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
-  <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
-
-  <!-- Grid map assembler for rviz -->
-  <node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
-    <remap from="mapData" to="rtabmap/mapData_relay"/>
-    <remap from="grid_map" to="rtabmap/grid_map"/>
-  </node>
-
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
-
-  <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
-  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
-  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
-    <remap from="rgb/image"       to="/camera/data_throttled_image_relay"/>
-    <remap from="depth/image"     to="/camera/data_throttled_image_depth_relay"/>
-    <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
-    <remap from="cloud"           to="voxel_cloud" />
-
-    <param name="queue_size" type="int" value="10"/>
-    <param name="voxel_size" type="double" value="0.01"/>
-  </node>
-</launch>

launch/azimut3/az3_mapping_client_stereo_nav.launch

@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- relays -->
-  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
-  <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/stereo_camera/left/image_rect_color raw out:=/stereo_camera/left/image_rect_color_relay" />
-
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_stereo_nav.rviz"/>
-</launch>

launch/azimut3/az3_mapping_robot.launch

@@ -1,63 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
-  <include file="$(find az3_bringup)/az3_standalone.launch"/>
-  <!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
-
-  <!-- OpenNI -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
-
-  <!-- Throttling messages -->
-  <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
-      <param name="rate" type="double" value="5.0"/>
-
-      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
-      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
-      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
-
-      <remap from="rgb/image_out"       to="data_throttled_image"/>
-      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
-      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
-    </node>
-  </group>
-
-  <!-- SLAM (robot side) -->
-  <!-- args: "delete_db_on_start" and "udebug" -->
-  <group ns="rtabmap">
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
-	  <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="/camera/data_throttled_image"/>
-  	  <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
-  	  <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
-
-	  <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="1"/>             <!-- Do odometry correction with consecutive laser scans -->
-	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
-	  <param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>    <!-- Local loop closure detection with locations in STM -->
-	  <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>      <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
-	  <param name="LccIcp/Type" type="string" value="2"/>                       <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
-	  <param name="LccIcp2/Iterations" type="string" value="100"/>
-	  <param name="LccIcp2/VoxelSize" type="string" value="0"/>
-	  <param name="LccBow/MinInliers" type="string" value="5"/>                 <!-- 3D visual words minimum inliers to accept loop closure -->
-	  <param name="LccBow/MaxDepth" type="string" value="4.0"/>                 <!-- 3D visual words maximum depth 0=infinity -->
-	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>           <!-- 3D visual words correspondence distance -->
-	  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>             <!-- Update map only if the robot is moving -->
-	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>              <!-- Update map only if the robot is moving -->
-	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
-	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
-	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
-    </node>
-  </group>
-</launch>

launch/azimut3/az3_mapping_robot_kinect_odom.launch

@@ -1,51 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
-  <include file="$(find az3_bringup)/az3_standalone.launch"/>
-  <!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
-
-  <!-- OpenNI -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
-
-  <!-- Throttling messages -->
-  <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
-      <param name="rate" type="double" value="5.0"/>
-
-      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
-      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
-      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
-
-      <remap from="rgb/image_out"       to="data_throttled_image"/>
-      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
-      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
-    </node>
-  </group>
-
-  <!-- SLAM (robot side) -->
-  <!-- args: "delete_db_on_start" and "udebug" -->
-  <group ns="rtabmap">
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
-	  <param name="frame_id" type="string" value="base_footprint"/>
-	  <param name="subscribe_depth" type="bool" value="true"/>
-
-	  <remap from="odom" to="/base_controller/odom"/>
-	  <remap from="rgb/image" to="/camera/data_throttled_image"/>
-  	  <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
-  	  <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
-
-	  <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/LocalLoopDetectionTime" type="string" value="false"/>    <!-- Local loop closure detection with locations in STM -->
-	  <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>      <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
-	  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>             <!-- Update map only if the robot is moving -->
-	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>              <!-- Update map only if the robot is moving -->
-	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
-	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
-	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
-    </node>
-  </group>
-</launch>

launch/azimut3/az3_mapping_robot_kinect_only.launch

@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- "Disable" odometry from azimut3 -->
-  <group ns="base_controller">
-      <param name="odom_frame_id" type="string" value="az3_odom"/>
-      <param name="base_frame_id" type="string" value="az3_base_link"/>
-  </group>
-  <remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
-
-  <!-- use same launch file as "Kinect + Odometry" configuration -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
-
-  <!-- Odometry -->
-  <node pkg="rtabmap_ros" type="visual_odometry" name="visual_odometry" output="screen">
-    <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
-    <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
-    <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-    <remap from="odom" to="/base_controller/odom"/>
-
-    <param name="Odom/MinInliers" type="string" value="10"/>
-    <param name="Odom/InlierDistance" type="string" value="0.01"/>
-
-    <param name="frame_id" type="string" value="base_footprint"/>
-  </node>
-
-</launch>

launch/azimut3/az3_mapping_robot_kinect_scan.launch

@@ -1,132 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <arg name="rtabmap_args" default="" />
-  <arg name="localization" default="false" />
-
-  <!-- AZIMUT 3 bringup: launch motors/odometry -->
-  <include file="$(find az3_bringup)/az3_standalone.launch"/>
-
-  <!-- OpenNI -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
-
-  <!-- SLAM (robot side) -->
-  <group ns="rtabmap">
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
-      <param name="frame_id"            type="string" value="base_footprint"/>
-      <param name="subscribe_laserScan" type="bool"   value="true"/>
-      <param name="use_action_for_goal" type="bool"   value="true"/>
-
-      <remap from="scan"            to="/kinect_scan"/>
-      <remap from="odom"            to="/base_controller/odom"/>
-      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
-      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
-      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-
-      <remap from="goal_out"        to="current_goal"/>
-      <remap from="move_base"       to="/planner/move_base"/>
-      <remap from="grid_map"        to="/map"/>
-
-      <!-- RTAB-Map's parameters -->
-      <param unless="$(arg localization)" name="Rtabmap/TimeThr"        type="string" value="500"/>
-      <param if="$(arg localization)"     name="Mem/IncrementalMemory"  type="string" value="false"/>
-      <param if="$(arg localization)"     name="Mem/InitWMWithAllNodes" type="string" value="true"/>
-      <param name="RGBD/PoseScanMatching"        type="string" value="true"/>
-      <param name="RGBD/LocalRadius"             type="string" value="4"/>
-      <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
-      <param name="Rtabmap/DetectionRate"        type="string" value="1"/>
-      <param name="RGBD/OptimizeSlam2d"          type="string" value="true"/>
-      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="true"/>
-      <param name="RGBD/OptimizeVarianceIgnored" type="string" value="false"/>
-      <param name="RGBD/PlanAngularVelocity"     type="string" value="1.0"/>  <!-- preference for path traversed forward -->
-      <param name="LccBow/Force2D"               type="string" value="true"/>
-      <param name="LccIcp/Type"                  type="string" value="2"/>
-      <param name="LccIcp2/CorrespondenceRatio"  type="string" value="0.2"/>
-    </node>
-  </group>
-
-  <!-- teleop -->
-  <node name="joy" pkg="joy" type="joy_node"/>
-  <group ns="teleop">
-     <remap from="joy" to="/joy"/>
-     <node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
-     <param name="cmd_eta/abtr_priority" value="50"/>
-  </group>
-
-  <!-- ROS navigation stack move_base -->
-  <group ns="planner">
-     <remap from="scan"             to="/kinect_scan"/>
-     <remap from="obstacles_cloud"       to="/obstacles_cloud"/>
-     <remap from="ground_cloud"          to="/ground_cloud"/>
-     <remap from="map"                   to="/map"/>
-
-     <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
-        <param name="base_global_planner" value="navfn/NavfnROS"/>
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml"  command="load" ns="global_costmap" />
-     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml"  command="load" ns="local_costmap" />
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml"      command="load" ns="local_costmap" />
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml"     command="load" ns="global_costmap"/>
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
-     </node>
-
-     <param name="cmd_vel/abtr_priority" value="10"/>
-  </group>
-
-  <node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
-     <remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
-  </node>
-
-  <!-- Arbitration between teleop and planner -->
-  <node name="register_cmd_eta" pkg="abtr_priority" type="register"
-        args="/cmd_eta /teleop/cmd_eta"/>
-  <node name="register_cmd_vel" pkg="abtr_priority" type="register"
-        args="/cmd_vel /planner/cmd_vel"/>
-
-  <!-- Throttling messages -->
-  <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
-      <param name="rate" type="double" value="3"/>
-
-      <remap from="rgb/image_in"        to="rgb/image_rect_color"/>
-      <remap from="depth/image_in"      to="depth_registered/image_raw"/>
-      <remap from="rgb/camera_info_in"  to="depth_registered/camera_info"/>
-
-      <remap from="rgb/image_out"       to="throttled_image"/>
-      <remap from="depth/image_out"     to="throttled_image_depth"/>
-      <remap from="rgb/camera_info_out" to="throttled_camera_info"/>
-    </node>
-
-    <!-- for the planner -->
-    <node pkg="nodelet" type="nodelet" name="obstacle_nodelet_manager"  args="manager" output="screen"/>
-    <node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz obstacle_nodelet_manager">
-      <remap from="depth/image"        to="throttled_image_depth"/>
-      <remap from="depth/camera_info"  to="throttled_camera_info"/>
-      <remap from="cloud"              to="cloudXYZ" />
-      <param name="decimation"  type="int" value="2"/>
-      <param name="max_depth"   type="double" value="4.0"/>
-      <param name="voxel_size"  type="double" value="0.02"/>
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection obstacle_nodelet_manager">
-      <remap from="cloud"     to="cloudXYZ"/>
-      <remap from="obstacles" to="/obstacles_cloud"/>
-      <remap from="ground"    to="/ground_cloud"/>
-
-      <param name="frame_id"             type="string" value="base_footprint"/>
-      <param name="map_frame_id"         type="string" value="map"/>
-      <param name="wait_for_transform"   type="bool" value="true"/>
-      <param name="min_cluster_size"     type="int" value="20"/>
-      <param name="max_obstacles_height" type="double" value="0.4"/>
-      <param name="ground_normal_angle"  type="double" value="0.1"/>
-    </node>
-
-    <!-- scan from the camera -->
-    <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager">
-      <remap from="image"       to="depth_registered/image_raw"/>
-      <remap from="camera_info" to="depth_registered/camera_info"/>
-      <remap from="scan"        to="/kinect_scan"/>
-      <param name="range_max" type="double" value="4"/>
-    </node>
-  </group>
-</launch>

launch/azimut3/az3_mapping_robot_stereo_nav.launch

@@ -1,167 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-    <!-- "Disable" wheel odometry from azimut3 -->
-    <group ns="base_controller">
-      <param name="odom_frame_id" type="string" value="az3_odom"/>
-      <param name="base_frame_id" type="string" value="az3_base_link"/>
-    </group>
-    <remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
-
-	<!-- AZIMUT 3 bringup: launch motors and TF -->
-	<include file="$(find az3_bringup)/az3_standalone.launch"/>
-
-	<node name="joy" pkg="joy" type="joy_node"/>
-    <group ns="teleop">
-        <remap from="joy" to="/joy"/>
-        <node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
-        <param name="cmd_eta/abtr_priority" value="50"/>
-    </group>
-
-	<!-- ROS navigation stack move_base -->
-    <group ns="planner">
-        <remap from="openni_points" to="/planner_cloud"/>
-        <remap from="base_scan" to="/base_scan"/>
-        <remap from="map" to="/rtabmap/proj_map"/>
-        <remap from="move_base_simple/goal" to="/planner_goal"/>
-
-        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
-     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_3d.yaml" command="load" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
-    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
-   		</node>
-
-        <param name="cmd_vel/abtr_priority" value="10"/>
-    </group>
-
-    <node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
-        <remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
-    </node>
-
-	<!-- Arbitration between teleop and planner -->
-    <node name="register_cmd_eta" pkg="abtr_priority" type="register"
-        args="/cmd_eta /teleop/cmd_eta"/>
-    <node name="register_cmd_vel" pkg="abtr_priority" type="register"
-        args="/cmd_vel /planner/cmd_vel"/>
-
-	<!-- Stereo camera -->
-	<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
-	    <param name="video_mode" value="format7_mode3" />
-	    <param name="format7_color_coding" value="raw16" />
-	    <param name="bayer_pattern" value="bggr" />
-	    <param name="bayer_method" value="" />
-	    <param name="stereo_method" value="Interlaced" />
-	    <param name="camera_info_url_left" value="" />
-	    <param name="camera_info_url_right" value="" />
-	</node>
-
-  	<!-- TF transforms for the stereo camera -->
-  	<arg name="pi/2" value="1.5707963267948966" />
-	<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
-	<node pkg="tf" type="static_transform_publisher" name="stereo_camera_base_link"
-	    args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
-	<node pkg="tf" type="static_transform_publisher" name="base_to_stereo_camera_base_link"
-	    args="0.01 0.06 0.90 0 0.37 0 base_link stereo_camera_base 100" />
-
-	<!-- Run the ROS package stereo_image_proc for image rectification-->
-	<group ns="/stereo_camera" >
-	    <node pkg="nodelet" type="nodelet" name="stereo_nodelet"  args="manager"/>
-		<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
-			 Throttle camera images -->
-		<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap_ros/stereo_throttle stereo_nodelet">
-			<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="20"/>
-		</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"/>
-			<param name="disparity_range" value="128"/>
-		</node>
-
-		<!-- Create point cloud for the planner -->
-		<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_ros/point_cloud_xyz stereo_nodelet">
-			<remap from="disparity/image"       to="disparity"/>
-			<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
-			<remap from="cloud"                 to="cloudXYZ"/>
-
-			<param name="voxel_size" type="double" value="0.05"/>
-			<param name="decimation" type="int" value="4"/>
-			<param name="max_depth" type="double" value="4"/>
-		</node>
-		<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection stereo_nodelet">
-    			<remap from="cloud" to="cloudXYZ"/>
-			<remap from="obstacles" to="/planner_cloud"/>
-
-			<param name="frame_id" type="string" value="base_footprint"/>
-			<param name="map_frame_id" type="string" value="map"/>
-			<param name="wait_for_transform" type="bool" value="true"/>
-			<param name="min_cluster_size" type="int" value="20"/>
-			<param name="max_obstacles_height" type="double" value="0.0"/>
-  		</node>
-	</group>
-
-	<!-- Visual Odometry -->
-	<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
-      <remap from="left/image_rect"       to="/stereo_camera/left/image_rect"/>
-      <remap from="right/image_rect"      to="/stereo_camera/right/image_rect"/>
-      <remap from="left/camera_info"      to="/stereo_camera/left/camera_info_throttle"/>
-      <remap from="right/camera_info"     to="/stereo_camera/right/camera_info_throttle"/>
-      <remap from="odom"                  to="/odometry"/>
-
-      <param name="frame_id" type="string" value="base_footprint"/>
-      <param name="odom_frame_id" type="string" value="odom"/>
-
-      <param name="Odom/InlierDistance" type="string" value="0.1"/>
-      <param name="Odom/MinInliers" type="string" value="10"/>
-      <param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
-      <param name="Odom/MaxDepth" type="string" value="10"/>
-
-      <param name="GFTT/MaxCorners" type="string" value="500"/>
-      <param name="GFTT/MinDistance" type="string" value="5"/>
-	</node>
-
-  <group ns="rtabmap">
-      <!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
-      <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
-         <param name="frame_id" type="string" value="base_footprint"/>
-         <param name="subscribe_stereo" type="bool" value="true"/>
-         <param name="subscribe_depth" type="bool" value="false"/>
-
-         <remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
-         <remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
-         <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
-         <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
-
-         <remap from="odom" to="/odometry"/>
-
-         <param name="queue_size" type="int" value="30"/>
-
-         <!-- RTAB-Map's parameters -->
-         <param name="Rtabmap/TimeThr" type="string" value="700"/>
-         <param name="Rtabmap/DetectionRate" type="string" value="1"/>
-
-         <param name="Kp/WordsPerImage" type="string" value="200"/>
-         <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
-
-         <param name="SURF/HessianThreshold" type="string" value="1000"/>
-
-         <param name="LccBow/MaxDepth" type="string" value="5"/>
-         <param name="LccBow/MinInliers" type="string" value="10"/>
-         <param name="LccBow/InlierDistance" type="string" value="0.05"/>
-
-         <param name="LccReextract/Activated" type="string" value="true"/>
-         <param name="LccReextract/MaxWords" type="string" value="500"/>
-      </node>
-   </group>
-
-</launch>

launch/azimut3/az3_nav.launch

@@ -1,152 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- Localization-only mode -->
-  <arg name="localization"      default="false"/>
-  <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
-  <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>
-
-  <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
-  <include file="$(find az3_bringup)/az3_standalone.launch"/>
-
-  <!-- OpenNI -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
-
-  <!-- SLAM (robot side) -->
-  <group ns="rtabmap">
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
-      <param name="frame_id"            type="string" value="base_footprint"/>
-      <param name="subscribe_scan"      type="bool" value="true"/>
-      <param name="use_action_for_goal" type="bool" value="true"/>
-      <param name="cloud_decimation"    type="int" value="1"/>     <!-- we already decimate in memory below -->
-      <param name="grid_eroded"         type="bool" value="true"/>
-      <param name="grid_cell_size"      type="double" value="0.05"/>
-
-      <remap from="odom"    to="/base_controller/odom"/>
-      <remap from="scan"    to="/base_scan"/>
-      <remap from="mapData" to="mapData"/>
-
-      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
-      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
-      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-
-      <remap from="goal_out"  to="current_goal"/>
-      <remap from="move_base" to="/planner/move_base"/>
-      <remap from="grid_map"  to="/map"/>
-
-      <!-- RTAB-Map's parameters -->
-      <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
-      <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
-
-      <param name="Reg/Strategy" type="string" value="1"/>
-
-      <param name="RGBD/AngularUpdate" type="string" value="0.1"/>
-      <param name="RGBD/LinearUpdate"  type="string" value="0.1"/>
-      <param name="RGBD/LocalRadius"   type="string" value="5"/>
-
-      <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
-      <param name="Mem/NotLinkedNodesKept"  type="string" value="false"/>
-      <param name="Mem/ImagePostDecimation"     type="string" value="4"/>
-
-      <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
-      <param name="Rtabmap/TimeThr"                  type="string" value="600"/>
-      <param name="Rtabmap/DetectionRate"            type="string" value="1"/>
-
-      <param name="Bayes/PredictionLC" type="string" value="0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.00035"/>
-
-      <param name="Optimizer/Slam2D"          type="string" value="true"/>
-      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
-      <param name="Optimizer/Strategy"        type="string" value="0"/>
-
-      <param name="Kp/DetectorStrategy"   type="string" value="0"/>
-      <param name="Kp/MaxFeatures"        type="string" value="200"/>
-      <param name="SURF/HessianThreshold" type="string" value="500"/>
-
-      <param name="Reg/Force3DoF"  type="string" value="true"/>
-      <param name="Vis/MaxDepth"   type="string" value="5"/>
-      <param name="Vis/MinInliers" type="string" value="5"/>
-      <param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
-
-      <!-- localization mode -->
-      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
-      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
-      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
-    </node>
-  </group>
-
-  <!-- teleop -->
-  <node name="joy" pkg="joy" type="joy_node"/>
-  <group ns="teleop">
-     <remap from="joy" to="/joy"/>
-     <node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
-     <param name="cmd_eta/abtr_priority" value="50"/>
-  </group>
-
-  <!-- ROS navigation stack move_base -->
-  <group ns="planner">
-     <remap from="scan" to="/base_scan"/>
-     <remap from="obstacles_cloud" to="/obstacles_cloud"/>
-     <remap from="ground_cloud" to="/ground_cloud"/>
-     <remap from="map" to="/map"/>
-     <remap from="move_base_simple/goal" to="/planner_goal"/>
-     <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
-        <param name="base_global_planner" value="navfn/NavfnROS"/>
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap"/>
-     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
-     </node>
-
-     <param name="cmd_vel/abtr_priority" value="10"/>
-  </group>
-
-  <node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
-     <remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
-  </node>
-
-  <!-- Arbitration between teleop and planner -->
-  <node name="register_cmd_eta" pkg="abtr_priority" type="register"
-        args="/cmd_eta /teleop/cmd_eta"/>
-  <node name="register_cmd_vel" pkg="abtr_priority" type="register"
-        args="/cmd_vel /planner/cmd_vel"/>
-
-  <!-- Throttling messages -->
-  <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
-      <param name="rate" type="double" value="5"/>
-      <param name="decimation" type="int" value="2"/>
-
-      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
-      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
-      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
-
-      <remap from="rgb/image_out"       to="data_resized_image"/>
-      <remap from="depth/image_out"     to="data_resized_image_depth"/>
-      <remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
-    </node>
-
-    <!-- for the planner -->
-    <node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
-      <remap from="depth/image"            to="data_resized_image_depth"/>
-      <remap from="depth/camera_info"      to="data_resized_camera_info"/>
-      <remap from="cloud"                  to="cloudXYZ" />
-      <param name="decimation" type="int" value="1"/>                     <!-- already decimated above -->
-      <param name="max_depth"  type="double" value="3.0"/>
-      <param name="voxel_size" type="double" value="0.02"/>
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
-      <remap from="cloud" to="cloudXYZ"/>
-      <remap from="obstacles" to="/obstacles_cloud"/>
-      <remap from="ground"    to="/ground_cloud"/>
-
-      <param name="frame_id"             type="string" value="base_footprint"/>
-      <param name="map_frame_id"         type="string" value="map"/>
-      <param name="wait_for_transform"   type="bool" value="true"/>
-      <param name="min_cluster_size"     type="int" value="20"/>
-      <param name="max_obstacles_height" type="double" value="0.4"/>
-    </node>
-  </group>
-</launch>

launch/azimut3/az3_nav_client.launch

@@ -1,48 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- Choose visualization -->
-  <arg name="rviz" default="true" />
-  <arg name="rtabmapviz" default="false" />
-  <arg name="sub_data" default="false"/>
-
-   <!-- use a relay on this machine -->
-  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay">
-    <param name="lazy" type="bool" value="true"/>
-  </node>
-  <node if="$(arg sub_data)" name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay">
-    <param name="lazy" type="bool" value="true"/>
-  </node>
-
-  <node if="$(arg sub_data)" name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_resized_image raw out:=/camera/data_resized_image_relay" />
-  <node if="$(arg sub_data)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_resized_image_depth raw out:=/camera/data_resized_image_depth_relay" />
-
-  <node if="$(arg sub_data)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
-    <remap from="rgb/image"       to="/camera/data_resized_image_relay"/>
-    <remap from="depth/image"     to="/camera/data_resized_image_depth_relay"/>
-    <remap from="rgb/camera_info" to="/camera/data_resized_camera_info"/>
-    <remap from="cloud"           to="/voxel_cloud" />
-  </node>
-
-  <group ns="rtabmap">
-  <!-- Visualisation RTAB-Map -->
-  <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
-      <param name="queue_size" type="int" value="10"/>
-      <param name="frame_id" type="string" value="base_footprint"/>
-      <remap from="odom" to="/base_controller/odom"/>
-      <remap from="mapData" to="mapData_relay"/>
-
-      <param name="subscribe_depth" type="bool" value="$(arg sub_data)"/>
-      <remap from="rgb/image" to="/camera/data_resized_image_relay"/>
-      <remap from="depth/image" to="/camera/data_resized_image_depth_relay"/>
-      <remap from="rgb/camera_info" to="/camera/data_resized_camera_info"/>
-
-      <param name="subscribe_laserScan" type="bool" value="$(arg sub_data)"/>
-      <remap from="scan" to="/base_scan_relay"/>
-  </node>
-  </group>
-
-  <!-- Visualisation RVIZ -->
-  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
-</launch>

launch/azimut3/az3_nav_kinect-only.launch

@@ -1,41 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- Localization-only mode -->
-  <arg name="localization"      default="false"/>
-  <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
-  <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>
-
-  <!-- "Disable" odometry from azimut3 -->
-  <group ns="base_controller">
-      <param name="odom_frame_id" type="string" value="az3_odom"/>
-      <param name="base_frame_id" type="string" value="az3_base_link"/>
-  </group>
-  <remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
-
-  <!-- use same launch file as "Kinect + Odometry" configuration -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_nav_kinect_odom.launch">
-   <arg name="localization" value="$(arg localization)"/>
-   <arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
-  </include>
-
-  <!-- Odometry -->
-  <group ns="rtabmap">
-    <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
-      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
-      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
-      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-      <remap from="odom"            to="/base_controller/odom"/>
-
-      <param name="Vis/MinInliers" type="string" value="10"/>
-      <param name="Vis/InlierDistance" type="string" value="0.1"/>
-      <param name="Vis/MaxDepth" type="string" value="4"/>
-      <param name="Reg/Force3DoF" type="string" value="true"/>
-
-      <param name="frame_id" type="string" value="base_footprint"/>
-    </node>
-  </group>
-
-</launch>
-

launch/azimut3/az3_nav_kinect_odom.launch

@@ -1,162 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- Localization-only mode -->
-  <arg name="localization"      default="false"/>
-  <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
-  <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>
-
-  <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
-  <include file="$(find az3_bringup)/az3_standalone.launch"/>
-
-  <!-- OpenNI -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
-
-  <!-- SLAM (robot side) -->
-  <group ns="rtabmap">
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
-      <param name="frame_id"            type="string" value="base_footprint"/>
-      <param name="subscribe_scan"      type="bool" value="false"/>
-      <param name="use_action_for_goal" type="bool" value="true"/>
-      <param name="cloud_decimation"    type="int" value="4"/>                    <!-- we already decimate in memory below -->
-      <param name="grid_eroded"         type="bool" value="true"/>
-      <param name="grid_cell_size"      type="double" value="0.05"/>
-
-      <remap from="odom"    to="/base_controller/odom"/>
-      <remap from="scan"    to="/base_scan"/>
-      <remap from="mapData" to="mapData"/>
-
-      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
-      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
-      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-
-      <remap from="goal_out"  to="current_goal"/>
-      <remap from="move_base" to="/planner/move_base"/>
-      <remap from="proj_map"  to="/map"/>
-
-      <!-- RTAB-Map's parameters -->
-      <param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
-      <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
-
-      <param name="Reg/Strategy"              type="string" value="0"/>
-
-      <param name="RGBD/AngularUpdate"        type="string" value="0.1"/>
-      <param name="RGBD/LinearUpdate"         type="string" value="0.1"/>
-      <param name="RGBD/LocalRadius"          type="string" value="5"/>
-
-      <param name="Mem/RehearsalSimilarity"   type="string" value="0.45"/>
-      <param name="Mem/NotLinkedNodesKept"    type="string" value="false"/>
-      <param name="Mem/ImageDecimation"       type="string" value="1"/>
-
-      <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
-      <param name="Rtabmap/TimeThr"           type="string" value="600"/>
-      <param name="Rtabmap/DetectionRate"     type="string" value="1"/>
-
-      <param name="Mem/RawDescriptorsKept"    type="string" value="true"/>
-      <param name="RGBD/LoopClosureReextractFeatures" type="string" value="false"/>
-      <param name="Mem/UseDepthAsMask"        type="string" value="true"/>
-      <param name="Reg/Force3DoF"             type="string" value="true"/>
-      <param name="Vis/EstimationType"        type="string" value="1"/>
-
-      <param name="Bayes/PredictionLC"        type="string" value="0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.00035"/>
-
-      <param name="Optimizer/Slam2D"           type="string" value="true"/>
-      <param name="Optimizer/Iterations"      type="string" value="100"/>
-      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
-      <param name="Optimizer/Strategy"        type="string" value="1"/>
-      <param name="Optimizer/Robust"          type="string" value="false"/>
-      <param name="Optimizer/VarianceIgnored" type="string" value="true"/>
-      <param name="RGBD/PlanStuckIterations"  type="string" value="10"/>
-
-      <param name="Kp/DetectorStrategy"       type="string" value="0"/>
-      <param name="Kp/MaxFeatures"            type="string" value="300"/>
-
-      <param name="SURF/HessianThreshold"     type="string" value="500"/>
-
-      <!-- localization mode -->
-      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
-      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
-      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
-   </node>
-  </group>
-
-  <!-- teleop -->
-  <node name="joy" pkg="joy" type="joy_node"/>
-  <group ns="teleop">
-     <remap from="joy" to="/joy"/>
-     <node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
-     <param name="cmd_eta/abtr_priority" value="50"/>
-  </group>
-
-  <!-- ROS navigation stack move_base -->
-  <group ns="planner">
-     <remap from="scan" to="/base_scan"/>
-     <remap from="obstacles_cloud" to="/obstacles_cloud"/>
-     <remap from="ground_cloud" to="/ground_cloud"/>
-     <remap from="map" to="/map"/>
-     <remap from="move_base_simple/goal" to="/planner_goal"/>
-
-     <arg name="observation_sources" value="point_cloud_sensorA point_cloud_sensorB"/>
-     <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
-        <param name="base_global_planner" value="navfn/NavfnROS"/>
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
-     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
-        <param name="global_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
-        <param name="local_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
-     </node>
-
-     <param name="cmd_vel/abtr_priority" value="10"/>
-  </group>
-
-  <node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
-     <remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
-  </node>
-
-  <!-- Arbitration between teleop and planner -->
-  <node name="register_cmd_eta" pkg="abtr_priority" type="register"
-        args="/cmd_eta /teleop/cmd_eta"/>
-  <node name="register_cmd_vel" pkg="abtr_priority" type="register"
-        args="/cmd_vel /planner/cmd_vel"/>
-
-  <!-- Throttling messages -->
-  <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
-      <param name="rate" type="double" value="5"/>
-      <param name="decimation" type="int" value="2"/>
-
-      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
-      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
-      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
-
-      <remap from="rgb/image_out"       to="data_resized_image"/>
-      <remap from="depth/image_out"     to="data_resized_image_depth"/>
-      <remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
-    </node>
-
-    <!-- for the planner -->
-    <node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
-      <remap from="depth/image"            to="data_resized_image_depth"/>
-      <remap from="depth/camera_info"      to="data_resized_camera_info"/>
-      <remap from="cloud"                  to="cloudXYZ" />
-      <param name="decimation" type="int" value="1"/>                     <!-- already decimated above -->
-      <param name="max_depth"  type="double" value="3.0"/>
-      <param name="voxel_size" type="double" value="0.02"/>
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
-      <remap from="cloud"     to="cloudXYZ"/>
-      <remap from="obstacles" to="/obstacles_cloud"/>
-      <remap from="ground"    to="/ground_cloud"/>
-
-      <param name="frame_id"             type="string" value="base_footprint"/>
-      <param name="map_frame_id"         type="string" value="map"/>
-      <param name="wait_for_transform"   type="bool" value="true"/>
-      <param name="min_cluster_size"     type="int" value="20"/>
-      <param name="max_obstacles_height" type="double" value="0.4"/>
-    </node>
-  </group>
-</launch>

launch/azimut3/az3_openni.launch

@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- Xtion -->
-  <param name="/camera/driver/data_skip" value="1" />
-  <include file="$(find openni2_launch)/launch/openni2.launch">
-    <arg name="depth_registration" value="True" />
-    <arg name="rgb_camera_info_url"
-        value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
-   <arg name="depth_camera_info_url"
-        value="file://$(find rtabmap_ros)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
-  </include>
-
-  <!-- Xtion frame -->
-  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
-      args="0.057 0.087 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
-
-</launch>

launch/azimut3/az3_remote_find_object.launch

@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
-    <param name="gui" value="true" type="bool"/>
-    <param name="settings_path" value="$(find rtabmap_ros)/launch/azimut3/config/azimut3_find_object.ini" type="str"/>
-    <param name="subscribe_depth" value="true" type="bool"/>
-    <param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
-
-    <remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
-    <remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
-    <remap from="depth_registered/camera_info" to="camera/data_throttled_camera_info_relay"/>
-  </node>
-</launch>

launch/azimut3/az3_remote_mapping_robot.launch

@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
-  <include file="$(find az3_bringup)/az3_standalone.launch"/>
-  <!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
-
-  <!-- OpenNI -->
-  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
-
-  <!-- Throttling messages -->
-  <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
-      <param name="rate" type="double" value="5.0"/>
-
-      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
-      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
-      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
-
-      <remap from="rgb/image_out"       to="data_throttled_image"/>
-      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
-      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
-    </node>
-  </group>
-
-  <!-- SLAM is done on client side...-->
-</launch>

launch/azimut3/az3_remote_mapping_rviz.launch

@@ -1,70 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- Remote teleop -->
-  <include file="$(find az3_bringup)/joystick.launch"/>
-
-  <!-- Visualization and SLAM nodes use same data, so just subscribe once and relay messages -->
-  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
-  <node name="odom_relay" type="relay" pkg="topic_tools" args="/base_controller/odom /base_controller/odom_relay"/>
-  <node name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay"/>
-  <node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
-  <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
-  <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
-
-  <!-- SLAM client side -->
-  <!-- args: "delete_db_on_start" and "udebug" -->
-  <group ns="rtabmap">
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
-	  <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_relay"/>
-	  <remap from="scan" to="/base_scan_relay"/>
-
-	  <remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
-  	  <remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
-  	  <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
-
-	  <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="1"/>             <!-- Do odometry correction with consecutive laser scans -->
-	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
-	  <param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>    <!-- Local loop closure detection with locations in STM -->
-	  <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>      <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
-	  <param name="LccIcp/Type" type="string" value="2"/>                       <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
-	  <param name="LccIcp2/Iterations" type="string" value="100"/>
-	  <param name="LccIcp2/VoxelSize" type="string" value="0"/>
-	  <param name="LccBow/MinInliers" type="string" value="5"/>                 <!-- 3D visual words minimum inliers to accept loop closure -->
-	  <param name="LccBow/MaxDepth" type="string" value="4.0"/>                 <!-- 3D visual words maximum depth 0=infinity -->
-	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>           <!-- 3D visual words correspondence distance -->
-	  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>             <!-- Update map only if the robot is moving -->
-	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>              <!-- Update map only if the robot is moving -->
-	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
-	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
-	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
-    </node>
-
-    <!-- Grid map assembler for rviz -->
-    <node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
-  </group>
-
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
-
-  <!-- Below, construct point cloud of the latest throttled data -->
-  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
-  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
-    <remap from="rgb/image"       to="/camera/data_throttled_image_relay"/>
-    <remap from="depth/image"     to="/camera/data_throttled_image_depth_relay"/>
-    <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
-    <remap from="cloud"           to="voxel_cloud" />
-
-    <param name="queue_size" type="int" value="10"/>
-    <param name="voxel_size" type="double" value="0.01"/>
-  </node>
-
-</launch>

launch/azimut3/config/azimut3.rviz

@@ -1,370 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-      Splitter Ratio: 0.434783
-    Tree Height: 410
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-      - /Current View1/Focal Point1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: LaserScan
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: map
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.02684
-        Min Value: -1.12646
-        Value: true
-      Axis: Z
-      Channel Name: rgb
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 2.34177e-38
-      Min Color: 0; 0; 0
-      Min Intensity: 9.21942e-41
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /voxel_cloud
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        az3_base_link:
-          Value: true
-        az3_odom:
-          Value: true
-        base_footprint:
-          Value: true
-        base_laser_link:
-          Value: true
-        base_link:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-        stereo_camera:
-          Value: true
-        stereo_camera_base:
-          Value: true
-        wheelLB_linkWheel_link:
-          Value: true
-        wheelLB_wheel_link:
-          Value: true
-        wheelLF_linkWheel_link:
-          Value: true
-        wheelLF_wheel_link:
-          Value: true
-        wheelRB_linkWheel_link:
-          Value: true
-        wheelRB_wheel_link:
-          Value: true
-        wheelRF_linkWheel_link:
-          Value: true
-        wheelRF_wheel_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                base_laser_link:
-                  {}
-                stereo_camera_base:
-                  stereo_camera:
-                    {}
-                wheelLB_linkWheel_link:
-                  wheelLB_wheel_link:
-                    {}
-                wheelLF_linkWheel_link:
-                  wheelLF_wheel_link:
-                    {}
-                wheelRB_linkWheel_link:
-                  wheelRB_wheel_link:
-                    {}
-                wheelRF_linkWheel_link:
-                  wheelRF_wheel_link:
-                    {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 3.66965
-        Min Value: -0.144665
-        Value: true
-      Axis: X
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 5
-      Size (m): 0.01
-      Style: Points
-      Topic: /base_scan
-      Use Fixed Frame: false
-      Use rainbow: true
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /rtabmap/grid_map
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_laser_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLB_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLB_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLF_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLF_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRB_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRB_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRF_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRF_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /camera/data_throttled_image_relay
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      class: rtabmap_ros/MapCloud
-      Cloud decimation: 4
-      Cloud max depth (m): 3
-      Cloud voxel size (m): 0.02
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Enabled: true
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 20
-      Node filtering radius (m): 0.2
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /rtabmap/mapData
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - class: rtabmap_ros/Info
-      Enabled: true
-      Name: Info
-      Topic: /rtabmap/info
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /rtabmap/grid_projection_map
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-  Value: true
-  Views:
-    Current:
-      class: rtabmap_ros/OrbitOriented
-      Distance: 7.83194
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0.0199225
-        Y: 0.23516
-        Z: -0.0896359
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.699796
-      Target Frame: base_link
-      Value: OrbitOriented (rtabmap)
-      Yaw: 3.19875
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 763
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000229000000dd00fffffffb0000000a0049006d006100670065010000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1561
-  X: 42
-  Y: 108

launch/azimut3/config/azimut3_nav.rviz

@@ -1,479 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 0
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-      Splitter Ratio: 0.601881
-    Tree Height: 353
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: Info
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.5
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: map
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        base_footprint:
-          Value: true
-        base_laser_link:
-          Value: true
-        base_link:
-          Value: true
-        camera_depth_frame:
-          Value: true
-        camera_depth_optical_frame:
-          Value: true
-        camera_link:
-          Value: true
-        camera_rgb_frame:
-          Value: true
-        camera_rgb_optical_frame:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-        wheelLB_linkWheel_link:
-          Value: true
-        wheelLB_wheel_link:
-          Value: true
-        wheelLF_linkWheel_link:
-          Value: true
-        wheelLF_wheel_link:
-          Value: true
-        wheelRB_linkWheel_link:
-          Value: true
-        wheelRB_wheel_link:
-          Value: true
-        wheelRF_linkWheel_link:
-          Value: true
-        wheelRF_wheel_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                base_laser_link:
-                  {}
-                camera_link:
-                  camera_depth_frame:
-                    camera_depth_optical_frame:
-                      {}
-                  camera_rgb_frame:
-                    camera_rgb_optical_frame:
-                      {}
-                wheelLB_linkWheel_link:
-                  wheelLB_wheel_link:
-                    {}
-                wheelLF_linkWheel_link:
-                  wheelLF_wheel_link:
-                    {}
-                wheelRB_linkWheel_link:
-                  wheelRB_wheel_link:
-                    {}
-                wheelRF_linkWheel_link:
-                  wheelRF_wheel_link:
-                    {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 3.46596
-        Min Value: -5.27159e-08
-        Value: true
-      Axis: X
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 5
-      Size (m): 0.01
-      Style: Points
-      Topic: /base_scan_relay
-      Use Fixed Frame: false
-      Use rainbow: true
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /map
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: costmap
-      Draw Behind: false
-      Enabled: true
-      Name: Global costmap
-      Topic: /planner/move_base/global_costmap/costmap
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: costmap
-      Draw Behind: false
-      Enabled: false
-      Name: Local costmap
-      Topic: /planner/move_base/local_costmap/costmap
-      Value: false
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_laser_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLB_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLB_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLF_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLF_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRB_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRB_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRF_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRF_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /camera/throttled_image
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: theora
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap_ros/MapCloud
-      Cloud decimation: 1
-      Cloud max depth (m): 4
-      Cloud voxel size (m): 0
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Enabled: true
-      Filter floor (m): 0.07
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 0
-      Node filtering radius (m): 0
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /rtabmap/mapData
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rtabmap_ros/Info
-      Enabled: true
-      Name: Info
-      Topic: /rtabmap/info
-      Value: true
-    - Alpha: 1
-      Buffer Length: 1
-      Class: rviz/Path
-      Color: 255; 149; 57
-      Enabled: true
-      Line Style: Lines
-      Line Width: 0.03
-      Name: move_base global plan
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Topic: /planner/move_base/NavfnROS/plan
-      Value: true
-    - Alpha: 1
-      Buffer Length: 1
-      Class: rviz/Path
-      Color: 2; 14; 255
-      Enabled: true
-      Line Style: Lines
-      Line Width: 0.03
-      Name: move_base local plan
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 4.11231
-        Min Value: -0.00766382
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 85; 255; 0
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Voxel_cloud
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /voxel_cloud
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Class: rtabmap_ros/MapGraph
-      Enabled: true
-      Global loop closure: 255; 0; 0
-      Local loop closure: 255; 255; 0
-      Merged neighbor: 255; 170; 0
-      Name: MapGraph
-      Neighbor: 0; 0; 255
-      Topic: /rtabmap/mapGraph
-      User: 255; 0; 0
-      Value: true
-      Virtual: 255; 0; 255
-    - Alpha: 1
-      Buffer Length: 1
-      Class: rviz/Path
-      Color: 255; 0; 255
-      Enabled: true
-      Line Style: Lines
-      Line Width: 0.03
-      Name: Rtabmap global path
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Topic: /rtabmap/global_path
-      Value: true
-    - Alpha: 1
-      Buffer Length: 1
-      Class: rviz/Path
-      Color: 85; 255; 255
-      Enabled: true
-      Line Style: Lines
-      Line Width: 0.03
-      Name: Rtabmap local path
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Topic: /rtabmap/local_path
-      Value: true
-    - Alpha: 1
-      Axes Length: 1
-      Axes Radius: 0.1
-      Class: rviz/Pose
-      Color: 0; 255; 0
-      Enabled: true
-      Head Length: 0.3
-      Head Radius: 0.1
-      Name: Current goal
-      Shaft Length: 1
-      Shaft Radius: 0.05
-      Shape: Arrow
-      Topic: /rtabmap/current_goal
-      Value: true
-    - Alpha: 1
-      Axes Length: 1
-      Axes Radius: 0.1
-      Class: rviz/Pose
-      Color: 255; 25; 0
-      Enabled: true
-      Head Length: 0.3
-      Head Radius: 0.1
-      Name: Global goal
-      Shaft Length: 1
-      Shaft Radius: 0.05
-      Shape: Arrow
-      Topic: /rtabmap/goal
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /rtabmap/goal
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 13.3786
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: -1.4347
-        Y: 1.38269
-        Z: -0.0856586
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 1.2448
-      Target Frame: base_footprint
-      Value: Orbit (rviz)
-      Yaw: 3.76044
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 800
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000151000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001a2000000dd00fffffffb0000000a0049006d00610067006501000001d0000000870000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000025d000000a50000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000375000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1228
-  X: 396
-  Y: 144

launch/azimut3/config/azimut3_stereo_nav.rviz

@@ -1,444 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 0
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-      Splitter Ratio: 0.601881
-    Tree Height: 304
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-      - /Current View1/Focal Point1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: PointCloud2
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.5
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: map
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.02684
-        Min Value: -1.12646
-        Value: true
-      Axis: Z
-      Channel Name: rgb
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 2.34177e-38
-      Min Color: 0; 0; 0
-      Min Intensity: 9.21942e-41
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /odom_last_frame
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        az3_base_link:
-          Value: true
-        az3_odom:
-          Value: true
-        base_footprint:
-          Value: true
-        base_laser_link:
-          Value: true
-        base_link:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-        stereo_camera:
-          Value: true
-        stereo_camera_base:
-          Value: true
-        wheelLB_linkWheel_link:
-          Value: true
-        wheelLB_wheel_link:
-          Value: true
-        wheelLF_linkWheel_link:
-          Value: true
-        wheelLF_wheel_link:
-          Value: true
-        wheelRB_linkWheel_link:
-          Value: true
-        wheelRB_wheel_link:
-          Value: true
-        wheelRF_linkWheel_link:
-          Value: true
-        wheelRF_wheel_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                base_laser_link:
-                  {}
-                stereo_camera_base:
-                  stereo_camera:
-                    {}
-                wheelLB_linkWheel_link:
-                  wheelLB_wheel_link:
-                    {}
-                wheelLF_linkWheel_link:
-                  wheelLF_wheel_link:
-                    {}
-                wheelRB_linkWheel_link:
-                  wheelRB_wheel_link:
-                    {}
-                wheelRF_linkWheel_link:
-                  wheelRF_wheel_link:
-                    {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: -0.851967
-        Min Value: -2.15198
-        Value: true
-      Axis: X
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 5
-      Size (m): 0.01
-      Style: Points
-      Topic: /base_scan
-      Use Fixed Frame: false
-      Use rainbow: true
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /map
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: costmap
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /planner/move_base/local_costmap/costmap
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: costmap
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /planner/move_base/global_costmap/costmap
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_laser_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLB_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLB_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLF_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelLF_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRB_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRB_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRF_linkWheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheelRF_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /stereo_camera/left/image_rect_color_relay
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      class: rtabmap_ros/MapCloud
-      Cloud decimation: 8
-      Cloud max depth (m): 4
-      Cloud voxel size (m): 0
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Enabled: true
-      Filter floor (m): 0.1
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 0
-      Node filtering radius (m): 0
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /rtabmap/mapData_relay
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - class: rtabmap_ros/Info
-      Enabled: true
-      Name: Info
-      Topic: /rtabmap/info
-      Value: true
-    - Alpha: 1
-      Axes Length: 1
-      Axes Radius: 0.1
-      Class: rviz/Pose
-      Color: 255; 25; 0
-      Enabled: true
-      Head Length: 0.3
-      Head Radius: 0.1
-      Name: Pose
-      Shaft Length: 1
-      Shaft Radius: 0.05
-      Shape: Arrow
-      Topic: /planner_goal
-      Value: true
-    - Alpha: 1
-      Buffer Length: 1
-      Class: rviz/Path
-      Color: 25; 255; 0
-      Enabled: true
-      Name: Path
-      Topic: /planner/move_base/TrajectoryPlannerROS/global_plan
-      Value: true
-    - Alpha: 1
-      Buffer Length: 1
-      Class: rviz/Path
-      Color: 2; 14; 255
-      Enabled: true
-      Name: Path
-      Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
-      Value: true
-    - Alpha: 1
-      class: rtabmap_ros/MapGraph
-      Color: 0; 0; 255
-      Enabled: true
-      Name: MapGraph
-      Topic: /rtabmap/mapData_relay
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 85; 255; 0
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /odom_local_map
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /planner_goal
-  Value: true
-  Views:
-    Current:
-      class: rtabmap_ros/OrbitOriented
-      Distance: 6.3581
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0.0235024
-        Y: -0.0419514
-        Z: 0.22792
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.799797
-      Target Frame: base_footprint
-      Value: OrbitOriented (rtabmap)
-      Yaw: 3.11245
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 765
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000151000002b7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000171000000dd00fffffffb0000000a0049006d006100670065010000019f000001400000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001d1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001d1000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000042f000002b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1414
-  X: 159
-  Y: 54

launch/azimut3/config/base_local_planner_params.yaml

@@ -1,41 +0,0 @@
-TrajectoryPlannerROS:
-
-  # Current limits based on AZ3 standalone configuration.
-  acc_lim_x:  0.75
-  acc_lim_y:  0.75
-  acc_lim_theta: 4
-  # min_vel_x and max_rotational_vel were set to keep the ICR at
-  # minimal distance of 0.48 m.
-  # Basically, max_rotational_vel * rho_min <= min_vel_x
-  max_vel_x:  0.5
-  min_vel_x:  0.24
-  max_vel_theta: 0.5
-  min_vel_theta: -0.5
-  min_in_place_vel_theta: 0.25
-  holonomic_robot: true
-
-  xy_goal_tolerance:  0.25
-  yaw_goal_tolerance: 0.25
-  latch_xy_goal_tolerance: true
-
-  # make sure that the minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.
-  sim_time: 1.5 # set between 1 and 2. The higher he value, the smoother the path (though more samples would be required).
-  sim_granularity: 0.025
-  angular_sim_granularity: 0.05
-  vx_samples: 12
-  vtheta_samples: 20
-
-  meter_scoring: true
-
-  pdist_scale: 0.7 # The higher will follow more the global path.
-  gdist_scale: 0.8
-  occdist_scale: 0.01
-  publish_cost_grid_pc: false
-
-#move_base
-controller_frequency: 10.0 #The robot can move faster when higher.
-
-#global planner
-NavfnROS:
-    allow_unknown: true
-    visualize_potential: false

launch/azimut3/config/costmap_common_params.yaml

@@ -1,10 +0,0 @@
-footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
-footprint_padding: 0.02
-#robot_radius: 0.38
-#robot_radius: ir_of_robot
-inflation_layer:
-  inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
-transform_tolerance: 2
-
-
-

launch/azimut3/config/costmap_common_params_2d.yaml

@@ -1,43 +0,0 @@
-footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
-footprint_padding: 0.04
-inflation_layer:
-  inflation_radius: 0.7 # 2xfootprint, it helps to keep the global planned path farther from obstacles
-transform_tolerance: 2
-
-obstacle_layer:
-  obstacle_range: 2.5
-  raytrace_range: 3
-  max_obstacle_height: 0.4
-  track_unknown_space: true
-
-  observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB
-
-  laser_scan_sensor: {
-    data_type: LaserScan,
-    topic: scan,
-    expected_update_rate: 0.1,
-    marking: true,
-    clearing: true
-  }
-
-  point_cloud_sensorA: {
-    sensor_frame: base_footprint,
-    data_type: PointCloud2,
-    topic: obstacles_cloud,
-    expected_update_rate: 0.5,
-    marking: true,
-    clearing: true,
-    min_obstacle_height: 0.04
-  }
-
-  point_cloud_sensorB: {
-    sensor_frame: base_footprint,
-    data_type: PointCloud2,
-    topic: ground_cloud,
-    expected_update_rate: 0.5,
-    marking: false,
-    clearing: true,
-    min_obstacle_height: -1.0 # make sure the ground is not filtered
-  }
-
-

launch/azimut3/config/global_costmap_params.yaml

@@ -1,11 +0,0 @@
-#global_costmap
-global_frame: map
-robot_base_frame: base_footprint
-update_frequency: 1
-publish_frequency: 1
-always_send_full_costmap: false
-plugins:
-   - {name: static_layer, type: "rtabmap_ros::StaticLayer"}
-   - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
-   - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
-

launch/azimut3/config/local_costmap_params.yaml

@@ -1,14 +0,0 @@
-global_frame: odom
-robot_base_frame: base_footprint
-update_frequency: 2
-publish_frequency: 1
-rolling_window: true
-width: 3.0
-height: 3.0
-resolution: 0.025
-origin_x: 0
-origin_y: 0
-
-plugins:
-  - {name: obstacle_layer,   type: "costmap_2d::ObstacleLayer"}
-  - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}

launch/azimut3/config/local_costmap_params_2d.yaml

@@ -1,51 +0,0 @@
-global_frame: odom
-robot_base_frame: base_footprint
-update_frequency: 2.0
-publish_frequency: 2.0
-rolling_window: true
-width: 4.0
-height: 4.0
-resolution: 0.025
-origin_x: -2.0
-origin_y: -2.0
-
-plugins:
-  - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}
-  - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}
-
-obstacle_layer:
-  obstacle_range: 2.5
-  raytrace_range: 3.0
-  max_obstacle_height: 0.4
-  track_unknown_space: true
-
-  observation_sources: laser_scan_sensor point_cloud_sensorA point_cloud_sensorB
-
-  laser_scan_sensor: {
-    data_type: LaserScan,
-    topic: base_scan,
-    expected_update_rate: 0.2,
-    marking: true,
-    clearing: true
-  }
-
-  point_cloud_sensorA: {
-    sensor_frame: base_footprint,
-    data_type: PointCloud2,
-    topic: obstacles_cloud,
-    expected_update_rate: 0.5,
-    marking: true,
-    clearing: true,
-    min_obstacle_height: 0.04
-  }
-
-  point_cloud_sensorB: {
-    sensor_frame: base_footprint,
-    data_type: PointCloud2,
-    topic: ground_cloud,
-    expected_update_rate: 0.5,
-    marking: false,
-    clearing: true,
-    min_obstacle_height: -1.0 # make usre the ground is not filtered
-  }
-

launch/azimut3/config/local_costmap_params_3d.yaml

@@ -1,33 +0,0 @@
-local_costmap:
-  global_frame: odom
-  robot_base_frame: base_footprint
-  update_frequency: 2.0
-  publish_frequency: 2.0
-  static_map: false
-  rolling_window: true
-  width: 4.0
-  height: 4.0
-  resolution: 0.025
-  origin_x: -2.0
-  origin_y: -2.0
-
-  #observation_sources: laser_scan_sensor point_cloud_sensor
-  observation_sources: point_cloud_sensor
-
-  laser_scan_sensor: {
-    data_type: LaserScan,
-    topic: base_scan,
-    expected_update_rate: 0.2,
-    marking: true,
-    clearing: true}
-
-  # assuming receiving a cloud from rtabmap/obstacles_detection node
-  point_cloud_sensor: {
-    sensor_frame: base_footprint,
-    data_type: PointCloud2,
-    topic: openni_points,
-    expected_update_rate: 0.5,
-    marking: true,
-    clearing: true,
-    min_obstacle_height: -99999.0,
-    max_obstacle_height: 0.5}

launch/calibration/00b09d010081e00e_left.yaml

@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: 00b09d010081e00e_left
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [520.84106910681, 0, 320.207922533597, 0, 520.652683004955, 251.69140630101, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.344858300062205, 0.131731614744127, -0.00032220157418798, -0.000178643627395838, 0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [0.999977409119708, -0.00542294021453702, -0.00397151981806852, 0.00542696944573559, 0.999984769417176, 0.00100445821860056, 0.00396601221263954, -0.00102598884371095, 0.999991609011807]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [487.608731712861, 0, 318.1162109375, 0, 0, 487.608731712861, 249.44425201416, 0, 0, 0, 1, 0]

launch/calibration/00b09d010081e00e_right.yaml

@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: 00b09d010081e00e_right
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [525.042672813, 0, 315.778978739153, 0, 524.605377865008, 246.116481979902, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.350198880846778, 0.143262162037345, -0.000540958577710845, -0.000386869942974346, 0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [0.999991166299663, -0.00384047779504094, 0.00170823094047773, 0.00384221006573169, 0.999992106658553, -0.00101194980141688, -0.0017043310860856, 0.0010185042442697, 0.999998028950384]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [487.608731712861, 0, 318.1162109375, -58.3626989865376, 0, 487.608731712861, 249.44425201416, 0, 0, 0, 1, 0]

launch/calibration/depth_PS1080_PrimeSense.yaml

@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: depth_PS1080_PrimeSense
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [546.0500834384593, 0.0, 318.26543549764034, 0.0, 545.7495208147751, 235.530988776277, 0.0, 0.0, 1.0]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.02445400737474688, 0.015558351939314555, 0.0010451121492915797, -0.004270544037870965, 0.0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [579.1331176757812, 0.0, 314.36071062675546, 0.0, 0.0, 580.1824340820312, 251.67534864987465, 0.0, 0.0, 0.0, 1.0, 0.0]

launch/calibration/euroc_left.yaml

@@ -1,30 +0,0 @@
-#%YAML:1.0
----
-camera_name: MH_01_easy_left
-image_width: 752
-image_height: 480
-camera_matrix:
-   rows: 3
-   cols: 3
-   data: [ 4.5865400000000000e+02, 0., 3.6721499999999997e+02, 0.,
-       4.5729599999999999e+02, 2.4837500000000000e+02, 0., 0., 1. ]
-distortion_coefficients:
-   rows: 1
-   cols: 4
-   data: [ -2.8340810999999999e-01, 7.3959070000000002e-02,
-       1.9358999999999999e-04, 1.7618711400000001e-05 ]
-distortion_model: plumb_bob
-rectification_matrix:
-   rows: 3
-   cols: 3
-   data: [ 9.9996634750298619e-01, -1.4227432298321767e-03,
-       8.0795831104762770e-03, 1.3657459036274155e-03,
-       9.9997417608074302e-01, 7.0556296505566432e-03,
-       -8.0894128132919258e-03, -7.0443575534647465e-03,
-       9.9994246755850658e-01 ]
-projection_matrix:
-   rows: 3
-   cols: 4
-   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, 0., 0.,
-       4.3520469597145990e+02, 2.5220085144042969e+02, 0., 0., 0., 1.,
-       0. ]

launch/calibration/euroc_right.yaml

@@ -1,30 +0,0 @@
-#%YAML:1.0
----
-camera_name: MH_01_easy_right
-image_width: 752
-image_height: 480
-camera_matrix:
-   rows: 3
-   cols: 3
-   data: [ 4.5758699999999999e+02, 0., 3.7999900000000002e+02, 0.,
-       4.5613400000000001e+02, 2.5523800000000000e+02, 0., 0., 1. ]
-distortion_coefficients:
-   rows: 1
-   cols: 4
-   data: [ -2.8368365000000001e-01, 7.4512839999999997e-02,
-       -1.0473000000000000e-04, -3.5559070000000001e-05 ]
-distortion_model: plumb_bob
-rectification_matrix:
-   rows: 3
-   cols: 3
-   data: [ 9.9996335257946345e-01, -3.6258159819210472e-03,
-       7.7554468926514068e-03, 3.6804026836554193e-03,
-       9.9996847525904631e-01, -7.0358456623254633e-03,
-       -7.7296917225483383e-03, 7.0641309842873097e-03,
-       9.9994517345668066e-01 ]
-projection_matrix:
-   rows: 3
-   cols: 4
-   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02,
-       -4.7906395664848930e+01, 0., 4.3520469597145990e+02,
-       2.5220085144042969e+02, 0., 0., 0., 1., 0. ]

launch/calibration/kinect2/506816242542/calib_color.yaml

@@ -1,21 +0,0 @@
-%YAML:1.0
-cameraMatrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 1035.409658, 0., 953.629091, 0., 1036.265896, 550.972045, 0., 0., 1. ]
-distortionCoefficients: !!opencv-matrix
-   rows: 1
-   cols: 5
-   dt: d
-   data: [ 0.046857, -0.054802, 0.002446, -0.001013, 0. ]
-rotation: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
-projection: !!opencv-matrix
-   rows: 4
-   cols: 4
-   dt: d
-   data: [ 1034.458862, 0., 949.608678, 0., 0., 1046.304565, 553.032416, 0., 0., 0., 1., 0., 0., 0., 0., 1. ]

launch/calibration/kinect2/506816242542/calib_ir.yaml

@@ -1,26 +0,0 @@
-%YAML:1.0
-cameraMatrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 3.6979200177991152e+02, 0., 2.5040545556144602e+02, 0.,
-       3.6934874236487565e+02, 2.0812949708935565e+02, 0., 0., 1. ]
-distortionCoefficients: !!opencv-matrix
-   rows: 1
-   cols: 5
-   dt: d
-   data: [ 1.0599430434497996e-01, -2.7091691685678082e-01,
-       4.8231954365675019e-04, -3.1761820716379199e-05,
-       7.7492684133604814e-02 ]
-rotation: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
-projection: !!opencv-matrix
-   rows: 4
-   cols: 4
-   dt: d
-   data: [ 3.6979200177991152e+02, 0., 2.5040545556144602e+02, 0., 0.,
-       3.6934874236487565e+02, 2.0812949708935565e+02, 0., 0., 0., 1.,
-       0., 0., 0., 0., 1. ]

launch/calibration/kinect2/506816242542/calib_pose.yaml

@@ -1,33 +0,0 @@
-%YAML:1.0
-rotation: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 9.9998557008106792e-01, 1.2305561691822327e-03,
-       -5.2292792195576393e-03, -1.3388135514396061e-03,
-       9.9978381286062756e-01, -2.0749340233854399e-02,
-       5.2026154880109553e-03, 2.0756041852440336e-02,
-       9.9977103354653341e-01 ]
-translation: !!opencv-matrix
-   rows: 3
-   cols: 1
-   dt: d
-   data: [ -5.1351463516082281e-02, 2.3299760970435590e-03,
-       -1.6640325723173980e-02 ]
-essential: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ -1.0156323849380249e-05, 1.6685089380143084e-02,
-       1.9841668306476608e-03, -1.6372923685201993e-02,
-       1.0453762704480134e-03, 5.1426722663111546e-02,
-       -2.2611924404357772e-03, -5.1343229156542415e-02,
-       1.0776930835878881e-03 ]
-fundamental: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ -4.8742459614193642e-09, 8.0171558549327292e-06,
-       -1.3152531820940182e-03, -7.8512380180953911e-06,
-       5.0188640603529770e-07, 1.0980767538413172e-02,
-       3.2068378477732255e-03, -3.3465816946061419e-02, 1. ]

launch/calibration/kinect2/README.txt

@@ -1,12 +0,0 @@
-Kinect v2 calibration:
-  Copy "506816242542" folder in "~/catkin_ws/src/iai_kinect2/kinect2_bridge/data"
-
-The number is the Kinect serial shown when launching kinect2_brige:
-  ...
-  [Freenect2Impl] enumerating devices...
-  [Freenect2Impl] 12 usb devices connected
-  [Freenect2Impl] found valid Kinect v2 @4:3 with serial 506816242542
-  [Freenect2Impl] found 1 devices
-  Kinect2 devices found:
-    0: 506816242542 (selected)
-  ...

launch/calibration/rgb_PS1080_PrimeSense.yaml

@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: rgb_PS1080_PrimeSense
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [546.0500834384593, 0.0, 318.26543549764034, 0.0, 545.7495208147751, 235.530988776277, 0.0, 0.0, 1.0]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [0.07270573116068803, -0.18543929362134534, -0.0011832045804703304, -0.0034080201993029564, 0.0]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [546.8461303710938, 0.0, 315.7269048503658, 0.0, 0.0, 549.0361938476562, 234.61483550908815, 0.0, 0.0, 0.0, 1.0, 0.0]

launch/config/appearance_gui.ini

@@ -1,166 +0,0 @@
-[Gui]
-General\imagesKept=true
-General\loggerLevel=2
-General\loggerEventLevel=3
-General\loggerPauseLevel=4
-General\loggerType=1
-General\loggerPrintTime=true
-General\verticalLayoutUsed=false
-General\imageRejectedShown=true
-General\imageHighestHypShown=true
-General\beep=false
-MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\a\0\0\x2\x30\xfc\x2\0\0\0\x2\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x2\x30\0\0\x2\x30\0\xff\xff\xff\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\0\0\0\0(\0\0\x1\xf4\0\0\0\x19\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x2\x30\xfc\x2\0\0\0\x3\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0(\0\0\x1\xf4\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0(\0\0\x2\x30\0\0\0+\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9c\xfc\x1\0\0\0\x6\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x5\0\0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\x33\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0`\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0O\0\xff\xff\xff\0\0\0\0\0\0\x2\x30\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
-MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\xc5\0\0\0K\0\0\x5\xd8\0\0\x3t\0\0\0\xcf\0\0\0q\0\0\x5\xce\0\0\x3j\0\0\0\0\0\0)
-General\showClouds0=true
-General\decimation0=4
-General\maxDepth0=4
-General\showScans0=true
-General\opacity0=0.6
-General\ptSize0=1
-General\opacityScan0=1
-General\ptSizeScan0=1
-General\showClouds1=true
-General\decimation1=2
-General\maxDepth1=0
-General\showScans1=true
-General\opacity1=1
-General\ptSize1=1
-General\opacityScan1=1
-General\ptSizeScan1=1
-General\cloudFiltering=false
-General\cloudFilteringRadius=0.5
-General\cloudFilteringAngle=30
-MainWindow\maximized=false
-MainWindow\status_bar=false
-PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\0\0\0\0\0\0\0\x3\xd7\0\0\x2\xb4\0\0\0\0\0\0\0\0\0\0\x3\xd7\0\0\x2\xb4\0\0\0\0\0\0)
-AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\0\0\0\0\0\0\0\x3>\0\0\x2\xa8\0\0\0\0\0\0\0\0\0\0\x3>\0\0\x2\xa8\0\0\0\0\0\0)
-widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xbf\xf0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0)
-widget_cloudViewer\camera_focal=@Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0)
-widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0?\xf0\0\0\0\0\0\0)
-widget_cloudViewer\grid=false
-widget_cloudViewer\grid_cell_count=50
-widget_cloudViewer\grid_cell_size=1
-widget_cloudViewer\trajectory_shown=true
-widget_cloudViewer\trajectory_size=100
-widget_cloudViewer\camera_target_locked=false
-widget_cloudViewer\camera_target_follow=true
-widget_cloudViewer\camera_free=false
-widget_cloudViewer\camera_lockZ=true
-widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
-imageView_source\image_shown=true
-imageView_source\depth_shown=false
-imageView_source\features_shown=true
-imageView_source\lines_shown=true
-imageView_source\alpha=50
-imageView_source\graphics_view=false
-imageView_source\graphics_view_scale=true
-imageView_loopClosure\image_shown=true
-imageView_loopClosure\depth_shown=false
-imageView_loopClosure\features_shown=true
-imageView_loopClosure\lines_shown=true
-imageView_loopClosure\alpha=50
-imageView_loopClosure\graphics_view=false
-imageView_loopClosure\graphics_view_scale=true
-imageView_odometry\image_shown=true
-imageView_odometry\depth_shown=false
-imageView_odometry\features_shown=true
-imageView_odometry\lines_shown=true
-imageView_odometry\alpha=200
-imageView_odometry\graphics_view=false
-imageView_odometry\graphics_view_scale=true
-ExportCloudsDialog\binary=true
-ExportCloudsDialog\normals_k=6
-ExportCloudsDialog\regenerate=false
-ExportCloudsDialog\regenerate_decimation=1
-ExportCloudsDialog\regenerate_max_depth=4
-ExportCloudsDialog\filtering=false
-ExportCloudsDialog\filtering_radius=0.02
-ExportCloudsDialog\filtering_min_neighbors=2
-ExportCloudsDialog\assemble=true
-ExportCloudsDialog\assemble_voxel=0.01
-ExportCloudsDialog\subtract=false
-ExportCloudsDialog\subtract_point_radius=0.02
-ExportCloudsDialog\subtract_point_angle=45
-ExportCloudsDialog\subtract_min_neighbors=5
-ExportCloudsDialog\mls=false
-ExportCloudsDialog\mls_radius=0.04
-ExportCloudsDialog\mls_polygonial_order=2
-ExportCloudsDialog\mls_upsampling_method=0
-ExportCloudsDialog\mls_upsampling_radius=0.01
-ExportCloudsDialog\mls_upsampling_step=0
-ExportCloudsDialog\mls_point_density=0
-ExportCloudsDialog\mls_dilation_voxel_size=0.01
-ExportCloudsDialog\mls_dilation_iterations=0
-ExportCloudsDialog\mesh=false
-ExportCloudsDialog\mesh_radius=0.04
-ExportCloudsDialog\mesh_mu=2.5
-ExportCloudsDialog\mesh_decimation_factor=0
-ExportCloudsDialog\mesh_texture=false
-ExportCloudsDialog\mesh_angle_tolerance=15
-ExportCloudsDialog\mesh_quad=false
-ExportCloudsDialog\mesh_triangle_size=2
-PostProcessingDialog\detect_more_lc=true
-PostProcessingDialog\cluster_radius=0.5
-PostProcessingDialog\cluster_angle=30
-PostProcessingDialog\iterations=1
-PostProcessingDialog\reextract_features=false
-PostProcessingDialog\refine_neigbors=false
-PostProcessingDialog\refine_lc=false
-PostProcessingDialog\sba=false
-PostProcessingDialog\sba_iterations=20
-PostProcessingDialog\sba_epsilon=0.0001
-PostProcessingDialog\sba_inlier_distance=0.05
-PostProcessingDialog\sba_min_inliers=10
-graphicsView_graphView\node_radius=0.00999999977648258
-graphicsView_graphView\link_width=0
-graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
-graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
-graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
-graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
-graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
-graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
-graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
-graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
-graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
-graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
-graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
-graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
-graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
-graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
-graphicsView_graphView\intra_inter_session_colors_enabled=false
-graphicsView_graphView\grid_visible=true
-graphicsView_graphView\origin_visible=true
-graphicsView_graphView\referential_visible=true
-graphicsView_graphView\local_radius_visible=false
-graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
-graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
-General\loggerPrintThreadId=false
-General\notifyNewGlobalPath=false
-General\odomQualityThr=50
-General\posteriorGraphView=true
-General\showFeatures0=false
-General\downsamplingScan0=1
-General\voxelSizeScan0=0
-General\ptSizeFeatures0=3
-General\showFeatures1=true
-General\downsamplingScan1=1
-General\voxelSizeScan1=0
-General\ptSizeFeatures1=3
-General\showGraphs=true
-General\showLabels=false
-General\noFiltering=true
-General\subtractFiltering=false
-General\subtractFilteringMinPts=5
-General\subtractFilteringRadius=0.02
-General\subtractFilteringAngle=45
-General\gridMapShown=false
-General\gridMapResolution=0.05
-General\gridMapOccupancyFrom3DCloud=false
-General\gridMapEroded=false
-General\gridMapOpacity=0.75
-General\meshing=false
-General\meshing_angle=15
-General\meshing_quad=false
-General\meshing_triangle_size=2
-Figures\counts=1
-Figures\curves=Loop/Highest_hypothesis_value/

launch/config/catvehicle.rviz

@@ -1,367 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 0
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-      Splitter Ratio: 0.522352933883667
-    Tree Height: 297
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: Image
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 100
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        back_left_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        back_right_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        camera_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        camera_right_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_laser_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_left_steering_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_left_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_right_steering_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_right_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        main_mass:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        triclops_left_optical_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        triclops_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        velodyne:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        velodyne_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        velodyne_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: catvehicle/robot_description
-      TF Prefix: catvehicle
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Alpha: 1
-      Buffer Length: 1
-      Class: rviz/Path
-      Color: 164; 0; 0
-      Enabled: true
-      Head Diameter: 0.30000001192092896
-      Head Length: 0.20000000298023224
-      Length: 0.30000001192092896
-      Line Style: Lines
-      Line Width: 0.029999999329447746
-      Name: Path
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Pose Color: 255; 85; 255
-      Pose Style: None
-      Radius: 0.029999999329447746
-      Shaft Diameter: 0.10000000149011612
-      Shaft Length: 0.10000000149011612
-      Topic: /catvehicle/path
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: -9999
-        Min Value: 9999
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.5
-      Style: Spheres
-      Topic: /catvehicle/front_laser_points
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: ring
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic: /catvehicle/velodyne_points
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 0.699999988079071
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /catvehicle/map
-      Unreliable: false
-      Use Timestamp: false
-      Value: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /catvehicle/triclops/left/image_rect_color
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 12.792472839355469
-        Min Value: 0.22430419921875
-        Value: true
-      Axis: Z
-      Channel Name: z
-      Class: rtabmap_ros/MapCloud
-      Cloud decimation: 1
-      Cloud from scan: true
-      Cloud max depth (m): 0
-      Cloud min depth (m): 1
-      Cloud voxel size (m): 0.20000000298023224
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Download graph: false
-      Download map: false
-      Download namespace: catvehicle
-      Enabled: true
-      Filter ceiling (m): 0
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: MapCloud
-      Node filtering angle (degrees): 30
-      Node filtering radius (m): 0
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic: /catvehicle/mapData
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Class: rtabmap_ros/MapGraph
-      Enabled: true
-      Global loop closure: 255; 0; 0
-      Landmark: 0; 128; 0
-      Local loop closure: 255; 255; 0
-      Merged neighbor: 255; 170; 0
-      Name: MapGraph
-      Neighbor: 0; 0; 255
-      Topic: /catvehicle/mapGraph
-      Unreliable: false
-      User: 255; 0; 0
-      Value: true
-      Virtual: 255; 0; 255
-  Enabled: true
-  Global Options:
-    Background Color: 211; 215; 207
-    Default Light: true
-    Fixed Frame: world
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rtabmap_ros/OrbitOriented
-      Distance: 32.8247184753418
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
-      Focal Shape Fixed Size: false
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5253984332084656
-      Target Frame: catvehicle/base_link
-      Value: OrbitOriented (rtabmap_ros)
-      Yaw: 2.720399856567383
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 959
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000020c00000365fc020000000bfb000000100044006900730070006c006100790073000000003d00000166000000c900fffffffb0000000a0049006d006100670065010000003d000003650000001600fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d0061006700650000000200000001b50000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000319000000cb0000000000000000000000010000010f00000365fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000365000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001c0fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005a00000003cfc0100000002fb0000000800540069006d00650000000000000005a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000002470000036500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1113
-  X: 807
-  Y: 27

launch/config/catvehicle_triclops.gazebo

@@ -1,110 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
-Author: Jonathan Sprinkle, Sam Taylor, Alex Warren, Rahul Bhadani
-Hannah Grace Mason, Joe Macinnes, Landon Chase Bentley
-
-Copyright (c) 2015-2018 Arizona Board of Regents
-All rights reserved.
-
-Permission is hereby granted, without written agreement and without
-license or royalty fees, to use, copy, modify, and distribute this
-software and its documentation for any purpose, provided that the
-above copyright notice and the following two paragraphs appear in
-all copies of this software.
-
-IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
-FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
-ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
-IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
-SUCH DAMAGE.
-
-THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
-INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
-AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
-IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
-TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
-
-Summary:
-This file includes gazebo reference for front stereo camera simulation mounted
-on the top of the car. For more information and for the tutorials used to create
-this file, see
-http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
-
-
-
--->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-<xacro:property name="M_PI" value="3.1415926535897931" />
-
-<!--triclops camera-->
-<gazebo reference="triclops_link">
-   <mu1>0.6</mu1>
-   <mu2>0.5</mu2>
-</gazebo>
-
-<joint name="triclops_optical" type="fixed">
-   <origin xyz="0 0 0" rpy="-${M_PI/2} 0 -${M_PI/2}"/>
-   <parent link="triclops_link"/>
-   <child link="triclops_left_optical_link"/>
-</joint>
-<link name="triclops_left_optical_link"/>
-
-<gazebo reference="triclops_link">
-   <sensor type="multicamera" name="triclops">
-      <update_rate>16.0</update_rate>
-      <camera name="left">
-        <horizontal_fov>1.3962634</horizontal_fov>
-        <image>
-          <width>1280</width>
-          <height>960</height>
-          <format>R8G8B8</format>
-        </image>
-        <clip>
-          <near>0.02</near>
-          <far>300</far>
-        </clip>
-        <noise>
-          <type>gaussian</type>
-           <mean>0.0</mean>
-          <stddev>0.007</stddev>
-        </noise>
-      </camera>
-      <camera name="right">
-        <pose>0 -0.07 0 0 0 0</pose>
-        <horizontal_fov>1.3962634</horizontal_fov>
-        <image>
-          <width>1280</width>
-          <height>960</height>
-          <format>R8G8B8</format>
-        </image>
-        <clip>
-          <near>0.02</near>
-          <far>300</far>
-        </clip>
-        <noise>
-          <type>gaussian</type>
-           <mean>0.0</mean>
-          <stddev>0.007</stddev>
-        </noise>
-      </camera>
-      <plugin name="camera_triclops_controller" filename="libgazebo_ros_multicamera.so">
-        <alwaysOn>true</alwaysOn>
-        <updateRate>0.0</updateRate>
-    	<robotNamespace>/$(arg roboname)</robotNamespace>
-        <cameraName>triclops</cameraName>
-        <imageTopicName>image_rect_color</imageTopicName>
-        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
-        <frameName>triclops_left_optical_link</frameName>
-        <hackBaseline>0.07</hackBaseline>
-        <distortionK1>0.0</distortionK1>
-        <distortionK2>0.0</distortionK2>
-        <distortionK3>0.0</distortionK3>
-        <distortionT1>0.0</distortionT1>
-        <distortionT2>0.0</distortionT2>
-      </plugin>
-    </sensor>
-</gazebo>
-
-</robot>
-

launch/config/catvehicle_velodyne_points.gazebo

@@ -1,43 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
-Author: Jonathan Sprinkle, Sam Taylor, Alex Warren
-Copyright (c) 2015 Arizona Board of Regents
-All rights reserved.
-
-Permission is hereby granted, without written agreement and without
-license or royalty fees, to use, copy, modify, and distribute this
-software and its documentation for any purpose, provided that the
-above copyright notice and the following two paragraphs appear in
-all copies of this software.
-
-IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
-FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
-ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
-IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
-SUCH DAMAGE.
-
-THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
-INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
-AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
-IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
-TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
-
-Summary:
-This file includes the control interfaces for ROS-based control
-through Gazebo. For more information and for the tutorials used to create
-this file, see
-http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
-
-Sensors are included separately, based on the arguments passed to the xacro include
-
--->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-<xacro:VLP-16 parent="velodyne_link" name="velodyne" topic="/$(arg roboname)/velodyne_points" organize_cloud="false" hz="10" samples="440" gpu="true">
-    <origin xyz="0 0 0.0" rpy="0 0 0" />
-</xacro:VLP-16>
-
-</robot>
-

launch/config/demo_find_object.rviz

@@ -1,382 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-      Splitter Ratio: 0.434783012
-    Tree Height: 592
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679016
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-      - /Current View1/Focal Point1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: LaserScan
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.0299999993
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: map
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.02683997
-        Min Value: -1.12645996
-        Value: true
-      Axis: Z
-      Channel Name: rgb
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 2.34176998e-38
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /voxel_cloud
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        base_footprint:
-          Value: true
-        base_laser_link:
-          Value: true
-        base_link:
-          Value: true
-        camera_depth_frame:
-          Value: true
-        camera_depth_optical_frame:
-          Value: true
-        camera_link:
-          Value: true
-        camera_rgb_frame:
-          Value: true
-        camera_rgb_optical_frame:
-          Value: true
-        map:
-          Value: true
-        object_4:
-          Value: true
-        object_5:
-          Value: true
-        object_6:
-          Value: true
-        object_7:
-          Value: true
-        object_8:
-          Value: true
-        odom:
-          Value: true
-        wheelLB_linkWheel_link:
-          Value: true
-        wheelLB_wheel_link:
-          Value: true
-        wheelLF_linkWheel_link:
-          Value: true
-        wheelLF_wheel_link:
-          Value: true
-        wheelRB_linkWheel_link:
-          Value: true
-        wheelRB_wheel_link:
-          Value: true
-        wheelRF_linkWheel_link:
-          Value: true
-        wheelRF_wheel_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                base_laser_link:
-                  {}
-                camera_link:
-                  camera_depth_frame:
-                    camera_depth_optical_frame:
-                      {}
-                  camera_rgb_frame:
-                    camera_rgb_optical_frame:
-                      object_4:
-                        {}
-                      object_5:
-                        {}
-                      object_6:
-                        {}
-                      object_7:
-                        {}
-                      object_8:
-                        {}
-                wheelLB_linkWheel_link:
-                  wheelLB_wheel_link:
-                    {}
-                wheelLF_linkWheel_link:
-                  wheelLF_wheel_link:
-                    {}
-                wheelRB_linkWheel_link:
-                  wheelRB_wheel_link:
-                    {}
-                wheelRF_linkWheel_link:
-                  wheelRF_wheel_link:
-                    {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: -0.662045956
-        Min Value: -5.20883799
-        Value: true
-      Axis: X
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 5
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /base_scan
-      Unreliable: false
-      Use Fixed Frame: false
-      Use rainbow: true
-      Value: true
-    - Alpha: 0.699999988
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /rtabmap/grid_map
-      Unreliable: false
-      Use Timestamp: false
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: false
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: false
-      Visual Enabled: true
-    - Class: rviz/Image
-      Enabled: false
-      Image Topic: /camera/data_throttled_image
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: compressed
-      Unreliable: false
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap_ros/MapCloud
-      Cloud decimation: 4
-      Cloud from scan: false
-      Cloud max depth (m): 3
-      Cloud min depth (m): 0
-      Cloud voxel size (m): 0.0199999996
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Enabled: true
-      Filter ceiling (m): 0
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 20
-      Node filtering radius (m): 0.200000003
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /rtabmap/mapData
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rtabmap_ros/Info
-      Enabled: true
-      Name: Info
-      Topic: /rtabmap/info
-      Unreliable: false
-      Value: true
-    - Class: rviz/MarkerArray
-      Enabled: true
-      Marker Topic: /objectsMarkers
-      Name: MarkerArray
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: true
-    - Class: rviz/MarkerArray
-      Enabled: true
-      Marker Topic: /rtabmap/labels
-      Name: MarkerArray
-      Namespaces:
-        ids: false
-        labels: false
-        landmarks: true
-      Queue Size: 100
-      Value: true
-    - Alpha: 1
-      Arrow Length: 0.300000012
-      Axes Length: 0.300000012
-      Axes Radius: 0.100000001
-      Class: rviz/PoseArray
-      Color: 255; 25; 0
-      Enabled: true
-      Head Length: 0.0700000003
-      Head Radius: 0.0299999993
-      Name: PoseArray
-      Shaft Length: 0.230000004
-      Shaft Radius: 0.00999999978
-      Shape: Axes
-      Topic: /rtabmap/landmarks
-      Unreliable: false
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-  Value: true
-  Views:
-    Current:
-      Class: rtabmap_ros/OrbitOriented
-      Distance: 7.50918865
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0.0776291937
-        Y: 0.0206621774
-        Z: 0.317859411
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.909796953
-      Target Frame: base_link
-      Value: OrbitOriented (rtabmap)
-      Yaw: 3.73874164
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 765
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002dffc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002df000000d700fffffffb0000000a0049006d006100670065000000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002ed000002df00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1187
-  X: 699
-  Y: 344

launch/config/demo_robot_mapping.rviz

@@ -1,259 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-      Splitter Ratio: 0.411058009
-    Tree Height: 422
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679016
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.0299999993
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: map
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.02683997
-        Min Value: -1.12645996
-        Value: true
-      Axis: Z
-      Channel Name: rgb
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 2.34176998e-38
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /voxel_cloud
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 8.34969044
-        Min Value: -0.777028978
-        Value: true
-      Axis: X
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /jn0/base_scan
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        {}
-      Update Interval: 0
-      Value: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /data_throttled_image
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: compressed
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap_ros/MapCloud
-      Cloud decimation: 8
-      Cloud max depth (m): 4
-      Cloud min depth (m): 0
-      Cloud voxel size (m): 0.00999999978
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Enabled: true
-      Filter ceiling (m): 0
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 30
-      Node filtering radius (m): 0
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /rtabmap/mapData
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Class: rtabmap_ros/MapGraph
-      Enabled: true
-      Global loop closure: 255; 0; 0
-      Local loop closure: 255; 255; 0
-      Merged neighbor: 255; 170; 0
-      Name: MapGraph
-      Neighbor: 0; 0; 255
-      Topic: /rtabmap/mapGraph
-      Unreliable: false
-      User: 255; 0; 0
-      Value: true
-      Virtual: 255; 0; 255
-    - Alpha: 0.699999988
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /rtabmap/grid_map
-      Unreliable: false
-      Value: true
-    - Class: rtabmap_ros/Info
-      Enabled: true
-      Name: Info
-      Topic: /rtabmap/info
-      Unreliable: false
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 9.93953991
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: -0.0336608998
-        Y: 0.112554997
-        Z: -0.719693005
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
-      Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.809795976
-      Target Frame: base_link
-      Value: Orbit (rviz)
-      Yaw: 3.82417989
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 824
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003890000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1273
-  X: 250
-  Y: 48

launch/config/demo_stereo_outdoor.rviz

@@ -1,318 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-      Splitter Ratio: 0.5
-    Tree Height: 420
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679016
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: Image
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.0299999993
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        az3_base_link:
-          Value: true
-        az3_odom:
-          Value: true
-        base_footprint:
-          Value: true
-        base_laser_link:
-          Value: true
-        base_link:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-        stereo_camera:
-          Value: true
-        stereo_camera_base:
-          Value: true
-        wheelLB_linkWheel_link:
-          Value: true
-        wheelLB_wheel_link:
-          Value: true
-        wheelLF_linkWheel_link:
-          Value: true
-        wheelLF_wheel_link:
-          Value: true
-        wheelRB_linkWheel_link:
-          Value: true
-        wheelRB_wheel_link:
-          Value: true
-        wheelRF_linkWheel_link:
-          Value: true
-        wheelRF_wheel_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                base_laser_link:
-                  {}
-                stereo_camera_base:
-                  stereo_camera:
-                    {}
-                wheelLB_linkWheel_link:
-                  wheelLB_wheel_link:
-                    {}
-                wheelLF_linkWheel_link:
-                  wheelLF_wheel_link:
-                    {}
-                wheelRB_linkWheel_link:
-                  wheelRB_wheel_link:
-                    {}
-                wheelRF_linkWheel_link:
-                  wheelRF_wheel_link:
-                    {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap_ros/MapCloud
-      Cloud decimation: 4
-      Cloud max depth (m): 4
-      Cloud min depth (m): 0
-      Cloud voxel size (m): 0
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Enabled: true
-      Filter ceiling (m): 0
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 30
-      Node filtering radius (m): 0
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /rtabmap/mapData
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Class: rtabmap_ros/MapGraph
-      Enabled: true
-      Global loop closure: 255; 0; 0
-      Local loop closure: 255; 255; 0
-      Merged neighbor: 255; 170; 0
-      Name: MapGraph
-      Neighbor: 0; 0; 255
-      Topic: /rtabmap/mapGraph
-      Unreliable: false
-      User: 255; 0; 0
-      Value: true
-      Virtual: 255; 0; 255
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /stereo_camera/left/image_rect_color
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: true
-    - Alpha: 0.699999988
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /rtabmap/grid_map
-      Unreliable: false
-      Value: true
-    - Class: rtabmap_ros/Info
-      Enabled: true
-      Name: Info
-      Topic: /rtabmap/info
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 1.17744994
-        Min Value: -1.72299004
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 0
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: OdomMap
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /rtabmap/odom_local_map
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 85; 255; 0
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: OdomFrame
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /rtabmap/odom_last_frame
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rtabmap_ros/OrbitOriented
-      Distance: 8.28384018
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0.109544002
-        Y: 0.145557001
-        Z: 0.113348998
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
-      Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.635397971
-      Target Frame: base_footprint
-      Value: OrbitOriented (rtabmap)
-      Yaw: 3.0704
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 848
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000030afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000233000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000261000000d10000001600ffffff000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ed000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c40000003efc0100000002fb0000000800540069006d00650000000000000004c40000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003cd0000030a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1341
-  X: 97
-  Y: 24

launch/config/find_object.ini

@@ -1,183 +0,0 @@
-[General]
-windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\x1\x2\0\0\x2\xeb\0\0\x2\x96\0\0\x4*\0\0\x1\x2\0\0\x3\a\0\0\x2\x96\0\0\x4*\0\0\0\0\0\0\0\0\a\x80)
-windowState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xc4\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xa8\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1;\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x95\0\0\x1\xe\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
-
-[Camera]
-1deviceId=0
-2imageWidth=640
-3imageHeight=480
-4imageRate=0
-5mediaPath=
-6useTcpCamera=false
-7IP=127.0.0.1
-8port=5000
-9queueSize=1
-
-[Feature2D]
-1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE"
-2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY"
-3MaxFeatures=0
-4Affine=false
-5AffineCount=6
-6SubPix=false
-7SubPixWinSize=3
-8SubPixIterations=30
-9SubPixEps=0.02
-AGAST_nonmaxSuppression=true
-AGAST_threshold=10
-AKAZE_descriptorChannels=3
-AKAZE_descriptorSize=0
-AKAZE_nOctaveLayers=4
-AKAZE_nOctaves=4
-AKAZE_threshold=0.001
-BRISK_octaves=3
-BRISK_patternScale=1
-BRISK_thresh=30
-Brief_bytes=32
-DAISY_interpolation=true
-DAISY_q_hist=8
-DAISY_q_radius=3
-DAISY_q_theta=8
-DAISY_radius=15
-DAISY_use_orientation=false
-Dense_featureScaleLevels=1
-Dense_featureScaleMul=0.1
-Dense_initFeatureScale=1
-Dense_initImgBound=0
-Dense_initXyStep=6
-Dense_varyImgBoundWithScale=false
-Dense_varyXyStepWithScale=true
-FREAK_nOctaves=4
-FREAK_orientationNormalized=true
-FREAK_patternScale=22
-FREAK_scaleNormalized=true
-Fast_gpu=false
-Fast_keypointsRatio=0.05
-Fast_maxNpoints=5000
-Fast_nonmaxSuppression=true
-Fast_threshold=10
-GFTT_blockSize=3
-GFTT_k=0.04
-GFTT_maxCorners=1000
-GFTT_minDistance=1
-GFTT_qualityLevel=0.01
-GFTT_useHarrisDetector=false
-KAZE_extended=false
-KAZE_nOctaveLayers=4
-KAZE_nOctaves=4
-KAZE_threshold=0.001
-KAZE_upright=false
-LATCH_bytes=32
-LATCH_half_ssd_size=3
-LATCH_rotationInvariance=true
-LUCID_blur_kernel=2
-LUCID_kernel=1
-MSER_areaThreshold=1.01
-MSER_delta=5
-MSER_edgeBlurSize=5
-MSER_maxArea=14400
-MSER_maxEvolution=200
-MSER_maxVariation=0.25
-MSER_minArea=60
-MSER_minDiversity=0.2
-MSER_minMargin=0.003
-ORB_WTA_K=2
-ORB_blurForDescriptor=false
-ORB_edgeThreshold=31
-ORB_firstLevel=0
-ORB_gpu=false
-ORB_nFeatures=500
-ORB_nLevels=8
-ORB_patchSize=31
-ORB_scaleFactor=1.2
-ORB_scoreType=0
-SIFT_contrastThreshold=0.04
-SIFT_edgeThreshold=10
-SIFT_nOctaveLayers=3
-SIFT_nfeatures=0
-SIFT_rootSIFT=false
-SIFT_sigma=1.6
-SURF_extended=true
-SURF_gpu=false
-SURF_hessianThreshold=600
-SURF_keypointsRatio=0.01
-SURF_nOctaveLayers=2
-SURF_nOctaves=4
-SURF_upright=false
-Star_lineThresholdBinarized=8
-Star_lineThresholdProjected=10
-Star_maxSize=45
-Star_responseThreshold=30
-Star_suppressNonmaxSize=5
-
-[%General]
-autoPauseOnDetection=false
-autoScreenshotPath=
-autoScroll=true
-autoStartCamera=false
-autoUpdateObjects=true
-controlsShown=false
-debug=false
-imageFormats=*.png *.jpg *.bmp *.tiff *.ppm
-invertedSearch=true
-mirrorView=false
-multiDetection=false
-multiDetectionRadius=30
-nextObjID=9
-port=0
-sendNoObjDetectedEvents=false
-threads=1
-videoFormats=*.avi *.m4v *.mp4
-vocabularyFixed=false
-vocabularyIncremental=false
-vocabularyUpdateMinWords=2000
-
-[Homography]
-allCornersVisible=false
-confidence=0.995
-homographyComputed=true
-ignoreWhenAllInliers=false
-maxIterations=2000
-method="1:LMEDS;RANSAC;RHO"
-minAngle=50
-minimumInliers=10
-opticalFlow=false
-opticalFlowEps=0.01
-opticalFlowIterations=30
-opticalFlowMaxLevel=3
-opticalFlowWinSize=16
-ransacReprojThr=5
-rectBorderWidth=4
-
-[NearestNeighbor]
-1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce"
-2Distance_type="0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING"
-3nndrRatioUsed=true
-4nndrRatio=0.8
-5minDistanceUsed=false
-6minDistance=1.6
-7ConvertBinToFloat=false
-7search_checks=32
-8search_eps=0
-9search_sorted=true
-Autotuned_build_weight=0.01
-Autotuned_memory_weight=0
-Autotuned_sample_fraction=0.1
-Autotuned_target_precision=0.8
-BruteForce_gpu=false
-Composite_branching=32
-Composite_cb_index=0.2
-Composite_centers_init="0:RANDOM;GONZALES;KMEANSPP"
-Composite_iterations=11
-Composite_trees=4
-KDTree_trees=4
-KMeans_branching=32
-KMeans_cb_index=0.2
-KMeans_centers_init="0:RANDOM;GONZALES;KMEANSPP"
-KMeans_iterations=11
-Lsh_key_size=20
-Lsh_multi_probe_level=2
-Lsh_table_number=12
-search_checks=32
-search_eps=0
-search_sorted=true

launch/config/husky_velodyne_extra.urdf.xacro

@@ -1,9 +0,0 @@
-<?xml version="1.0"?>
-<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">
-    <origin xyz="0.025 0 0.175" rpy="0 0 0" />
-  </xacro:VLP-16>
-
-</robot>

launch/config/rgbd.rviz

@@ -1,317 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-        - /Info1
-        - /DepthCloud1/Auto Size1
-      Splitter Ratio: 0.411058009
-    Tree Height: 422
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679016
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: Info
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.0299999993
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: map
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.02683997
-        Min Value: -1.12645996
-        Value: true
-      Axis: Z
-      Channel Name: rgb
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 2.34176998e-38
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /voxel_cloud
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        camera_depth_frame:
-          Value: true
-        camera_depth_optical_frame:
-          Value: true
-        camera_link:
-          Value: true
-        camera_rgb_frame:
-          Value: true
-        camera_rgb_optical_frame:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          {}
-        odom:
-          camera_link:
-            camera_depth_frame:
-              camera_depth_optical_frame:
-                {}
-            camera_rgb_frame:
-              camera_rgb_optical_frame:
-                {}
-      Update Interval: 0
-      Value: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /camera/rgb/image_rect_color
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap_ros/MapCloud
-      Cloud decimation: 4
-      Cloud max depth (m): 4
-      Cloud min depth (m): 0
-      Cloud voxel size (m): 0.00999999978
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Enabled: false
-      Filter ceiling (m): 0
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 30
-      Node filtering radius (m): 0
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /rtabmap/mapData
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Class: rtabmap_ros/Info
-      Enabled: true
-      Name: Info
-      Topic: /rtabmap/info
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Class: rtabmap_ros/MapGraph
-      Enabled: true
-      Global loop closure: 255; 0; 0
-      Local loop closure: 255; 255; 0
-      Merged neighbor: 255; 170; 0
-      Name: MapGraph
-      Neighbor: 0; 0; 255
-      Topic: /rtabmap/mapGraph
-      Unreliable: false
-      User: 255; 0; 0
-      Value: true
-      Virtual: 255; 0; 255
-    - Alpha: 1
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: false
-      Name: Map
-      Topic: /rtabmap/octomap_grid
-      Unreliable: false
-      Use Timestamp: false
-      Value: false
-    - Class: octomap_rviz_plugin/ColorOccupancyGrid
-      Enabled: false
-      Max. Height Display: 3.40282347e+38
-      Max. Octree Depth: 16
-      Min. Height Display: -3.40282347e+38
-      Name: ColorOccupancyGrid
-      Octomap Topic: /rtabmap/octomap_binary
-      Queue Size: 5
-      Value: false
-      Voxel Alpha: 0.5
-      Voxel Coloring: Z-Axis
-      Voxel Rendering: Occupied Voxels
-    - Alpha: 0.699999988
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: false
-      Name: Map
-      Topic: /rtabmap/grid_map
-      Unreliable: false
-      Use Timestamp: false
-      Value: false
-    - Alpha: 1
-      Auto Size:
-        Auto Size Factor: 1
-        Value: true
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/DepthCloud
-      Color: 255; 255; 255
-      Color Image Topic: /camera/rgb/image_rect_color
-      Color Transformer: RGB8
-      Color Transport Hint: raw
-      Decay Time: 0
-      Depth Map Topic: /camera/depth_registered/image
-      Depth Map Transport Hint: raw
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: DepthCloud
-      Occlusion Compensation:
-        Occlusion Time-Out: 30
-        Value: false
-      Position Transformer: XYZ
-      Queue Size: 5
-      Selectable: true
-      Size (Pixels): 3
-      Style: Flat Squares
-      Topic Filter: true
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 5.61779022
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 1.506356
-        Y: 0.0734607875
-        Z: 0.0787572041
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.499797344
-      Target Frame: base_link
-      Value: Orbit (rviz)
-      Yaw: 2.97818136
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 824
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000d700fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f0000031afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000000000031a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002740000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1273
-  X: 524
-  Y: 348

launch/config/rgbd_gui.ini

@@ -1,363 +0,0 @@
-[Gui]
-AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\x1b\0\0\x2\xf7\0\0\x2\xfc\0\0\0\0\0\0\0\x1b\0\0\x2\xf7\0\0\x2\xfc\0\0\0\0\0\0\0\0\a\x80)
-DepthCalibrationDialog\bin_depth=2
-DepthCalibrationDialog\bin_height=6
-DepthCalibrationDialog\bin_width=8
-DepthCalibrationDialog\cone_radius=0.02
-DepthCalibrationDialog\cone_stddev_thresh=0.1
-DepthCalibrationDialog\decimation=1
-DepthCalibrationDialog\laser_scan=false
-DepthCalibrationDialog\max_depth=3.5
-DepthCalibrationDialog\max_model_depth=10
-DepthCalibrationDialog\min_depth=0
-DepthCalibrationDialog\smoothing=1
-DepthCalibrationDialog\voxel=0.01
-ExportBundlerDialog\exportPoints=false
-ExportBundlerDialog\laplacianThr=0
-ExportBundlerDialog\maxAngularSpeed=0
-ExportBundlerDialog\maxLinearSpeed=0
-ExportBundlerDialog\sba_iterations=20
-ExportBundlerDialog\sba_rematch_features=true
-ExportBundlerDialog\sba_type=0
-ExportBundlerDialog\sba_variance=1
-ExportCloudsDialog\assemble=true
-ExportCloudsDialog\assemble_voxel=0.005
-ExportCloudsDialog\bilateral=false
-ExportCloudsDialog\bilateral_sigma_r=0.1
-ExportCloudsDialog\bilateral_sigma_s=10
-ExportCloudsDialog\binary=true
-ExportCloudsDialog\cputsdf_flattenRadius=0.005
-ExportCloudsDialog\cputsdf_minWeight=0
-ExportCloudsDialog\cputsdf_randomSplit=1
-ExportCloudsDialog\cputsdf_resolution=0.01
-ExportCloudsDialog\cputsdf_size=12
-ExportCloudsDialog\cputsdf_truncNeg=0.03
-ExportCloudsDialog\cputsdf_truncPos=0.03
-ExportCloudsDialog\filtering=false
-ExportCloudsDialog\filtering_min_neighbors=2
-ExportCloudsDialog\filtering_radius=0.02
-ExportCloudsDialog\frame=0
-ExportCloudsDialog\from_depth=true
-ExportCloudsDialog\gain=false
-ExportCloudsDialog\gain_beta=10
-ExportCloudsDialog\gain_full=false
-ExportCloudsDialog\gain_overlap=0
-ExportCloudsDialog\gain_radius=0.02
-ExportCloudsDialog\gain_rgb=true
-ExportCloudsDialog\mesh=false
-ExportCloudsDialog\mesh_angle_tolerance=15
-ExportCloudsDialog\mesh_clean=true
-ExportCloudsDialog\mesh_color_radius=0.03
-ExportCloudsDialog\mesh_decimation_factor=0
-ExportCloudsDialog\mesh_dense_strategy=1
-ExportCloudsDialog\mesh_k=20
-ExportCloudsDialog\mesh_max_polygons=0
-ExportCloudsDialog\mesh_min_cluster_size=0
-ExportCloudsDialog\mesh_mu=2.5
-ExportCloudsDialog\mesh_quad=false
-ExportCloudsDialog\mesh_radius=0.04
-ExportCloudsDialog\mesh_texture=false
-ExportCloudsDialog\mesh_textureBlending=true
-ExportCloudsDialog\mesh_textureBlendingDecimation=0
-ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=0
-ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0
-ExportCloudsDialog\mesh_textureCameraFiltering=false
-ExportCloudsDialog\mesh_textureCameraFilteringAngle=30
-ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0
-ExportCloudsDialog\mesh_textureCameraFilteringRadius=0
-ExportCloudsDialog\mesh_textureCameraFilteringVel=0
-ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0
-ExportCloudsDialog\mesh_textureExposureFusion=false
-ExportCloudsDialog\mesh_textureFormat=0
-ExportCloudsDialog\mesh_textureMaxAngle=0
-ExportCloudsDialog\mesh_textureMaxCount=1
-ExportCloudsDialog\mesh_textureMaxDepthError=0
-ExportCloudsDialog\mesh_textureMaxDistance=3
-ExportCloudsDialog\mesh_textureMinCluster=50
-ExportCloudsDialog\mesh_textureMultiband=false
-ExportCloudsDialog\mesh_textureRoiRatios=0.0 0.0 0.0 0.0
-ExportCloudsDialog\mesh_textureSize=5
-ExportCloudsDialog\mesh_triangle_size=2
-ExportCloudsDialog\mls=false
-ExportCloudsDialog\mls_dilation_iterations=0
-ExportCloudsDialog\mls_dilation_voxel_size=0.01
-ExportCloudsDialog\mls_output_voxel_size=0
-ExportCloudsDialog\mls_point_density=0
-ExportCloudsDialog\mls_polygonial_order=2
-ExportCloudsDialog\mls_radius=0.04
-ExportCloudsDialog\mls_upsampling_method=0
-ExportCloudsDialog\mls_upsampling_radius=0.01
-ExportCloudsDialog\mls_upsampling_step=0
-ExportCloudsDialog\normals_k=10
-ExportCloudsDialog\normals_radius=0
-ExportCloudsDialog\openchisel_carving_dist_m=0.05
-ExportCloudsDialog\openchisel_chunk_size_x=16
-ExportCloudsDialog\openchisel_chunk_size_y=16
-ExportCloudsDialog\openchisel_chunk_size_z=16
-ExportCloudsDialog\openchisel_far_plane_dist=1.1
-ExportCloudsDialog\openchisel_integration_weight=1
-ExportCloudsDialog\openchisel_merge_vertices=true
-ExportCloudsDialog\openchisel_near_plane_dist=0.05
-ExportCloudsDialog\openchisel_truncation_constant=0.001504
-ExportCloudsDialog\openchisel_truncation_linear=0.00152
-ExportCloudsDialog\openchisel_truncation_quadratic=0.0019
-ExportCloudsDialog\openchisel_truncation_scale=10
-ExportCloudsDialog\openchisel_use_voxel_carving=false
-ExportCloudsDialog\pipeline=0
-ExportCloudsDialog\poisson_depth=0
-ExportCloudsDialog\poisson_iso=8
-ExportCloudsDialog\poisson_manifold=true
-ExportCloudsDialog\poisson_minDepth=5
-ExportCloudsDialog\poisson_outputPolygons=false
-ExportCloudsDialog\poisson_pointWeight=4
-ExportCloudsDialog\poisson_samples=1
-ExportCloudsDialog\poisson_scale=1.1
-ExportCloudsDialog\poisson_solver=8
-ExportCloudsDialog\regenerate=true
-ExportCloudsDialog\regenerate_decimation=1
-ExportCloudsDialog\regenerate_distortion_model=
-ExportCloudsDialog\regenerate_fill_error=2
-ExportCloudsDialog\regenerate_fill_size=0
-ExportCloudsDialog\regenerate_max_depth=4
-ExportCloudsDialog\regenerate_min_depth=0
-ExportCloudsDialog\regenerate_roi=0.0 0.0 0.0 0.0
-ExportCloudsDialog\regenerate_scan_decimation=1
-ExportCloudsDialog\regenerate_scan_max_range=0
-ExportCloudsDialog\regenerate_scan_min_range=0
-ExportCloudsDialog\regenerate_voxel=0.005
-ExportCloudsDialog\subtract=false
-ExportCloudsDialog\subtract_min_neighbors=5
-ExportCloudsDialog\subtract_point_angle=0
-ExportCloudsDialog\subtract_point_radius=0.02
-ExportScansDialog\assemble=true
-ExportScansDialog\assemble_voxel=0.01
-ExportScansDialog\binary=true
-ExportScansDialog\filtering=false
-ExportScansDialog\filtering_min_neighbors=2
-ExportScansDialog\filtering_radius=0.02
-ExportScansDialog\normals_k=20
-ExportScansDialog\regenerate=false
-ExportScansDialog\regenerate_decimation=1
-Figures\counts=
-Figures\curves=
-General\beep=false
-General\cloudCeilingHeight=0
-General\cloudFiltering=false
-General\cloudFilteringAngle=20
-General\cloudFilteringRadius=0.2
-General\cloudFloorHeight=0
-General\cloudNoiseMinNeighbors=5
-General\cloudNoiseRadius=0
-General\cloudVoxel=0
-General\cloudsKept=true
-General\colorScheme0=0
-General\colorScheme1=0
-General\colorSchemeScan0=0
-General\colorSchemeScan1=0
-General\decimation0=4
-General\decimation1=4
-General\downsamplingScan0=1
-General\downsamplingScan1=1
-General\figure_cache=true
-General\figure_time=true
-General\gravityLength0=1
-General\gravityLength1=1
-General\gravityShown0=false
-General\gravityShown1=false
-General\gridMapOpacity=0.75
-General\gridMapShown=false
-General\gtAlign=true
-General\imageHighestHypShown=false
-General\imageRejectedShown=true
-General\imagesKept=true
-General\landmarkSize=0
-General\localizationsGraphView=false
-General\loggerEventLevel=3
-General\loggerLevel=2
-General\loggerPauseLevel=3
-General\loggerPrintThreadId=false
-General\loggerPrintTime=true
-General\loggerType=1
-General\maxDepth0=4
-General\maxDepth1=0
-General\maxRange0=0
-General\maxRange1=0
-General\meshing=false
-General\meshing_angle=15
-General\meshing_quad=false
-General\meshing_texture=false
-General\meshing_triangle_size=2
-General\minDepth0=0
-General\minDepth1=0
-General\minRange0=0
-General\minRange1=0
-General\noFiltering=true
-General\nochangeGraphView=false
-General\normalKSearch=10
-General\normalRadiusSearch=0
-General\notifyNewGlobalPath=false
-General\octomap=false
-General\octomap_2dgrid=true
-General\octomap_3dmap=true
-General\octomap_depth=16
-General\octomap_point_size=5
-General\octomap_rendering_type=0
-General\odomDisabled=false
-General\odomOnlyInliersShown=false
-General\odomQualityThr=50
-General\odomRegistration=3
-General\opacity0=1
-General\opacity1=1
-General\opacityScan0=1
-General\opacityScan1=1
-General\posteriorGraphView=true
-General\ptSize0=1
-General\ptSize1=2
-General\ptSizeFeatures0=3
-General\ptSizeFeatures1=3
-General\ptSizeScan0=1
-General\ptSizeScan1=1
-General\roiRatios0=0.0 0.0 0.0 0.0
-General\roiRatios1=0.0 0.0 0.0 0.0
-General\scanCeilingHeight=0
-General\scanFloorHeight=0
-General\scanNormalKSearch=0
-General\scanNormalRadiusSearch=0
-General\showClouds0=true
-General\showClouds1=true
-General\showFeatures0=false
-General\showFeatures1=true
-General\showFrames=false
-General\showFrustums0=false
-General\showFrustums1=false
-General\showGraphs=true
-General\showIMUAcc=false
-General\showIMUGravity=false
-General\showLabels=false
-General\showLandmarks=true
-General\showScans0=true
-General\showScans1=true
-General\subtractFiltering=false
-General\subtractFilteringAngle=0
-General\subtractFilteringMinPts=5
-General\subtractFilteringRadius=0.02
-General\verticalLayoutUsed=true
-General\voxelSizeScan0=0
-General\voxelSizeScan1=0
-General\wordsGraphView=false
-MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\x43\0\0\0\x1b\0\0\x5\xa5\0\0\x3\xf\0\0\0\x43\0\0\0\x39\0\0\x5\xa5\0\0\x3\xf\0\0\0\0\0\0\0\0\a\x80)
-MainWindow\maximized=false
-MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1N\0\0\x2\x9a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0=\0\0\x2\x9a\0\0\x2)\0\xff\xff\xff\0\0\0\x1\0\0\x4\xf\0\0\x2\x9a\xfc\x2\0\0\0\x2\xfc\0\0\0=\0\0\x2\x9a\0\0\0\xdb\0\xff\xff\xff\xfc\x1\0\0\0\x3\xfc\0\0\x1T\0\0\x1\x6\0\0\0h\0\xff\xff\xff\xfc\x2\0\0\0\x2\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\0\0\0\0(\0\0\x1%\0\0\0\x13\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0=\0\0\x2\x9a\0\0\0\x37\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x2`\0\0\x1\xde\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x4\x44\0\0\x1\x1f\0\0\0\x46\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf2\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9a\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\0\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\0\0\x5\0\0\0\x1\x33\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0i\0\xff\xff\xff\0\0\0\0\0\0\x2\x9a\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
-MainWindow\status_bar=false
-PostProcessingDialog\cluster_angle=30
-PostProcessingDialog\cluster_radius=0.3
-PostProcessingDialog\detect_more_lc=true
-PostProcessingDialog\inter_session=true
-PostProcessingDialog\intra_session=true
-PostProcessingDialog\iterations=1
-PostProcessingDialog\reextract_features=false
-PostProcessingDialog\refine_lc=false
-PostProcessingDialog\refine_neigbors=false
-PostProcessingDialog\sba=false
-PostProcessingDialog\sba_epsilon=0
-PostProcessingDialog\sba_iterations=20
-PostProcessingDialog\sba_rematch_features=true
-PostProcessingDialog\sba_type=1
-PostProcessingDialog\sba_variance=1
-PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\x1\f\0\0\0\x1b\0\0\x4\xdb\0\0\x3\x9a\0\0\x1\f\0\0\0\x1b\0\0\x4\xdb\0\0\x3\x9a\0\0\0\0\0\0\0\0\a\x80)
-graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
-graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
-graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
-graphicsView_graphView\global_path_visible=true
-graphicsView_graphView\gps_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\x80\x80\0\0)
-graphicsView_graphView\gps_graph_visible=true
-graphicsView_graphView\graph_visible=true
-graphicsView_graphView\grid_visible=true
-graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
-graphicsView_graphView\gt_graph_visible=true
-graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
-graphicsView_graphView\intra_inter_session_colors_enabled=false
-graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
-graphicsView_graphView\link_width=0
-graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
-graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
-graphicsView_graphView\local_path_visible=true
-graphicsView_graphView\local_radius_visible=false
-graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
-graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
-graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
-graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
-graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
-graphicsView_graphView\node_radius=0.009999999776482582
-graphicsView_graphView\orientation_ENU=false
-graphicsView_graphView\origin_visible=true
-graphicsView_graphView\referential_visible=true
-graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
-graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
-graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
-imageView_loopClosure\alpha=150
-imageView_loopClosure\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
-imageView_loopClosure\colormap=0
-imageView_loopClosure\depth_shown=false
-imageView_loopClosure\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
-imageView_loopClosure\features_shown=true
-imageView_loopClosure\features_size=0
-imageView_loopClosure\graphics_view=false
-imageView_loopClosure\graphics_view_scale=true
-imageView_loopClosure\graphics_view_scale_to_height=false
-imageView_loopClosure\image_shown=true
-imageView_loopClosure\lines_shown=true
-imageView_loopClosure\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
-imageView_loopClosure\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
-imageView_odometry\alpha=200
-imageView_odometry\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
-imageView_odometry\colormap=0
-imageView_odometry\depth_shown=false
-imageView_odometry\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
-imageView_odometry\features_shown=true
-imageView_odometry\features_size=0
-imageView_odometry\graphics_view=false
-imageView_odometry\graphics_view_scale=true
-imageView_odometry\graphics_view_scale_to_height=false
-imageView_odometry\image_shown=true
-imageView_odometry\lines_shown=true
-imageView_odometry\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
-imageView_odometry\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
-imageView_source\alpha=150
-imageView_source\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
-imageView_source\colormap=0
-imageView_source\depth_shown=false
-imageView_source\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
-imageView_source\features_shown=true
-imageView_source\features_size=0
-imageView_source\graphics_view=false
-imageView_source\graphics_view_scale=true
-imageView_source\graphics_view_scale_to_height=false
-imageView_source\image_shown=true
-imageView_source\lines_shown=true
-imageView_source\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
-imageView_source\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
-widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
-widget_cloudViewer\camera_axis_shown=true
-widget_cloudViewer\camera_focal="@Variant(\0\0\0T?>\"\xb0=!\xa5\0?>!\xe6)"
-widget_cloudViewer\camera_free=false
-widget_cloudViewer\camera_lockZ=true
-widget_cloudViewer\camera_ortho=false
-widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xc0G\xad|>\r\xa4\x10@h\xe3\x46)
-widget_cloudViewer\camera_target_follow=true
-widget_cloudViewer\camera_target_locked=false
-widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0)
-widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
-widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0)
-widget_cloudViewer\frustum_shown=true
-widget_cloudViewer\grid=false
-widget_cloudViewer\grid_cell_count=50
-widget_cloudViewer\grid_cell_size=1
-widget_cloudViewer\intensity_max=0
-widget_cloudViewer\intensity_red_colormap=false
-widget_cloudViewer\normals=false
-widget_cloudViewer\normals_scale=0.20000000298023224
-widget_cloudViewer\normals_step=1
-widget_cloudViewer\rendering_rate=5
-widget_cloudViewer\trajectory_shown=true
-widget_cloudViewer\trajectory_size=100

launch/config/rgbdslam_datasets.rviz

@@ -1,291 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Info1
-        - /PointCloud23
-        - /PointCloud23/Status1
-      Splitter Ratio: 0.529595
-    Tree Height: 422
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: PointCloud2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: map
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.02684
-        Min Value: -1.12646
-        Value: true
-      Axis: Z
-      Channel Name: rgb
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 2.34177e-38
-      Min Color: 0; 0; 0
-      Min Intensity: 9.21942e-41
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /voxel_cloud
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        kinect:
-          Value: true
-        kinect_est:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-        openni_camera:
-          Value: true
-        openni_depth_frame:
-          Value: true
-        openni_depth_optical_frame:
-          Value: true
-        openni_rgb_frame:
-          Value: true
-        openni_rgb_optical_frame:
-          Value: true
-        world:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: false
-      Tree:
-        world:
-          kinect:
-            openni_camera:
-              openni_depth_frame:
-                openni_depth_optical_frame:
-                  {}
-              openni_rgb_frame:
-                openni_rgb_optical_frame:
-                  {}
-          map:
-            odom:
-              kinect_est:
-                {}
-      Update Interval: 0
-      Value: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /camera/rgb/image_rect_color
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap_ros/MapCloud
-      Cloud decimation: 4
-      Cloud max depth (m): 4
-      Cloud voxel size (m): 0.01
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Enabled: true
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 15
-      Node filtering radius (m): 0.1
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /rtabmap/mapData
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rtabmap_ros/Info
-      Enabled: true
-      Name: Info
-      Topic: /rtabmap/info
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /rtabmap/odom_last_frame
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 1.17984
-        Min Value: 0.0147058
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 85; 255; 127
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /rtabmap/odom_local_map
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: world
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 3.32013
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: -0.216951
-        Y: 0.819032
-        Z: 1.30659
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.554801
-      Target Frame: base_link
-      Value: Orbit (rviz)
-      Yaw: 4.9892
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 824
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001530000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003a00000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1273
-  X: 316
-  Y: 95

launch/config/test_odometry.rviz

@@ -1,240 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-      Splitter Ratio: 0.411058
-    Tree Height: 422
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: Image
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: odom
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.02684
-        Min Value: -1.12646
-        Value: true
-      Axis: Z
-      Channel Name: rgb
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 2.34177e-38
-      Min Color: 0; 0; 0
-      Min Intensity: 9.21942e-41
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /voxel_cloud
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        base_link:
-          Value: true
-        camera_depth_frame:
-          Value: true
-        camera_depth_optical_frame:
-          Value: true
-        camera_link:
-          Value: true
-        camera_rgb_frame:
-          Value: true
-        camera_rgb_optical_frame:
-          Value: true
-        odom:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        odom:
-          base_link:
-            camera_link:
-              camera_depth_frame:
-                camera_depth_optical_frame:
-                  {}
-              camera_rgb_frame:
-                camera_rgb_optical_frame:
-                  {}
-      Update Interval: 0
-      Value: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /camera/rgb/image_rect_color
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 0; 255; 0
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 2
-      Size (m): 0.01
-      Style: Points
-      Topic: /odom_local_map
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /odom_last_frame
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: odom
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 7.06539
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 1.45837
-        Y: 0.109967
-        Z: -0.602093
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.839796
-      Target Frame: base_link
-      Value: Orbit (rviz)
-      Yaw: 3.58419
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 824
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001530000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003a00000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1273
-  X: 229
-  Y: 149

launch/config/turtlebot_navigation.rviz

@@ -1,446 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /TF1/Frames1
-        - /TF1/Tree1
-        - /Global Map1/Costmap1
-        - /Global Map1/Planner1
-        - /Local Map1/Costmap1
-        - /Local Map1/Planner1
-      Splitter Ratio: 0.5
-    Tree Height: 481
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: Rtabmap cloud
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: map
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        camera_depth_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_depth_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        camera_rgb_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_rgb_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        caster_back_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        caster_front_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        cliff_sensor_front_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        cliff_sensor_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        cliff_sensor_right_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        gyro_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        plate_bottom_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        plate_middle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        plate_top_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_0_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_3_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_4_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_bottom_5_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_kinect_0_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_kinect_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_middle_0_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_middle_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_middle_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_middle_3_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_top_0_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_top_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_top_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pole_top_3_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheel_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheel_right_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/TF
-      Enabled: false
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: false
-      Tree:
-        {}
-      Update Interval: 0
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Squares
-      Topic: /scan
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 0; 0
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Bumper Hit
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.08
-      Style: Spheres
-      Topic: /mobile_base/sensors/bumper_pointcloud
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 0.7
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /map
-      Value: true
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 0.7
-          Class: rviz/Map
-          Color Scheme: costmap
-          Draw Behind: true
-          Enabled: true
-          Name: Costmap
-          Topic: /move_base/global_costmap/costmap
-          Value: true
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 255; 0; 0
-          Enabled: true
-          Name: Planner
-          Topic: /move_base/TrajectoryPlannerROS/global_plan
-          Value: true
-      Enabled: true
-      Name: Global Map
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 0.7
-          Class: rviz/Map
-          Color Scheme: costmap
-          Draw Behind: false
-          Enabled: true
-          Name: Costmap
-          Topic: /move_base/local_costmap/costmap
-          Value: true
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 0; 12; 255
-          Enabled: true
-          Name: Planner
-          Topic: /move_base/TrajectoryPlannerROS/local_plan
-          Value: true
-      Enabled: true
-      Name: Local Map
-    - Arrow Length: 0.2
-      Class: rviz/PoseArray
-      Color: 0; 192; 0
-      Enabled: true
-      Name: Amcl Particles
-      Topic: /particlecloud
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap_ros/MapCloud
-      Cloud decimation: 4
-      Cloud max depth (m): 4
-      Cloud voxel size (m): 0.05
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Enabled: true
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Rtabmap cloud
-      Node filtering angle (degrees): 0
-      Node filtering radius (m): 0
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /rtabmap/mapData
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/MoveCamera
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/Select
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/Measure
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 5.31174
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0.00901246
-        Y: -0.126793
-        Z: 0.0223136
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 1.3598
-      Target Frame: base_footprint
-      Value: Orbit (rviz)
-      Yaw: 3.12914
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 694
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001e500000270fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000270000000dd00ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000270000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002df0000027000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1503
-  X: 85
-  Y: 188