mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Uniformized "approx_sync" parameter name across all nodes. Updated rgbd_mapping.launch and stereo_mapping.launch to include rtabmap.launch instead of redefining all nodes.
This commit is contained in:
matlabbe
+30
-97
@@ -1,5 +1,7 @@
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<launch>
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<!-- Backward compatibility launch file, use rtabmap.launch instead -->
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<!-- Your RGB-D sensor should be already started with "depth_registration:=true".
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Examples:
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$ roslaunch freenect_launch freenect.launch depth_registration:=true
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@@ -17,17 +19,15 @@
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<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
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<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
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<arg name="time_threshold" default="0"/> <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
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<arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
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<arg name="database_path" default="~/.ros/rtabmap.db"/>
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<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
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<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
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<arg name="approx_sync" default="true"/> <!-- if timestamps of the input topics are not synchronized -->
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<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
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<arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" />
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<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
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<arg name="compressed" default="false"/>
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<arg name="convert_depth_to_mm" default="true"/>
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<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
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<arg name="scan_topic" default="/scan"/>
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@@ -41,102 +41,35 @@
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<arg name="namespace" default="rtabmap"/>
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<arg name="wait_for_transform" default="0.2"/>
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<!-- Nodes -->
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<group ns="$(arg namespace)">
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<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
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<arg name="rviz" value="$(arg rviz)" />
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<arg name="localization" value="$(arg localization)"/>
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<arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" />
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<arg name="rviz_cfg" value="$(arg rviz_cfg)" />
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<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=$(arg rgb_topic) raw out:=$(arg rgb_topic)" />
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<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_registered_topic) raw out:=$(arg depth_registered_topic)" />
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<!-- Odometry -->
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_registered_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="Odom/FillInfoData" type="string" value="true"/>
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</node>
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<!-- Visual SLAM (robot side) -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="database_path" type="string" value="$(arg database_path)"/>
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_registered_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
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<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
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<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
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<param name="Mem/SaveDepth16Format" type="string" value="$(arg convert_depth_to_mm)"/>
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<!-- localization mode -->
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<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
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<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
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<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
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<arg name="frame_id" value="$(arg frame_id)"/>
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<arg name="namespace" value="$(arg namespace)"/>
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<arg name="database_path" value="$(arg database_path)"/>
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<arg name="wait_for_transform" value="$(arg wait_for_transform)"/>
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<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
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<arg name="launch_prefix" value="$(arg launch_prefix)"/>
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<arg name="approx_sync" value="$(arg approx_sync)"/>
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<!-- when 2D scan is set -->
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<param if="$(arg subscribe_scan)" name="Optimizer/Slam2D" type="string" value="true"/>
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<param if="$(arg subscribe_scan)" name="Icp/CorrespondenceRatio" type="string" value="0.25"/>
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<param if="$(arg subscribe_scan)" name="Reg/Strategy" type="string" value="1"/>
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<param if="$(arg subscribe_scan)" name="Reg/Force3DoF" type="string" value="true"/>
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<!-- when 3D scan is set -->
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<param if="$(arg subscribe_scan_cloud)" name="Reg/Strategy" type="string" value="1"/>
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</node>
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<arg name="rgb_topic" value="$(arg rgb_topic)" />
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<arg name="depth_topic" value="$(arg depth_registered_topic)" />
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<arg name="camera_info_topic" value="$(arg camera_info_topic)" />
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<arg name="compressed" value="$(arg compressed)"/>
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<arg name="subscribe_scan" value="$(arg subscribe_scan)"/>
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<arg name="scan_topic" value="$(arg scan_topic)"/>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
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<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_registered_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
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<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
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</node>
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</group>
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<!-- Visualization RVIZ -->
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<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
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<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
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<remap from="rgb/image_in" to="$(arg rgb_topic)"/>
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<remap from="depth/image_in" to="$(arg depth_registered_topic)"/>
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<remap from="rgb/camera_info_in" to="$(arg camera_info_topic)"/>
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<remap if="$(arg visual_odometry)" from="odom_in" to="rtabmap/odom"/>
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<remap unless="$(arg visual_odometry)" from="odom_in" to="$(arg odom_topic)"/>
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<remap from="rgb/image_out" to="data_odom_sync/image"/>
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<remap from="depth/image_out" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
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<remap from="odom_out" to="odom_sync"/>
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</node>
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_odom_sync/image"/>
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<remap from="depth/image" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="decimation" type="double" value="2"/>
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<param name="voxel_size" type="double" value="0.02"/>
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</node>
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<arg name="subscribe_scan_cloud" value="$(arg subscribe_scan_cloud)"/>
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<arg name="scan_cloud_topic" value="$(arg scan_cloud_topic)"/>
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<arg name="visual_odometry" value="$(arg visual_odometry)"/>
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<arg name="odom_topic" value="$(arg odom_topic)"/>
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<arg name="odom_args" value="$(arg rtabmap_args)"/>
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</include>
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</launch>
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@@ -37,7 +37,8 @@
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<arg name="wait_for_transform" default="0.2"/>
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<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
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<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
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<arg name="approx_sync" default="true"/> <!-- if timestamps of the input topics are not synchronized -->
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<!-- RGB-D related topics -->
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<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
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<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
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@@ -49,7 +50,6 @@
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<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
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<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
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<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
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<arg name="approx_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
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<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
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<!-- For depth_topic, "compressedDepth" image_transport is used. -->
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@@ -91,6 +91,7 @@
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
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<param name="config_path" type="string" value="$(arg cfg)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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</node>
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@@ -125,7 +126,7 @@
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="database_path" type="string" value="$(arg database_path)"/>
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<param name="stereo_approx_sync" type="bool" value="$(arg approx_sync)"/>
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<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
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<param name="config_path" type="string" value="$(arg cfg)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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@@ -189,7 +190,7 @@
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<param name="decimation" type="double" value="2"/>
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<param name="voxel_size" type="double" value="0.02"/>
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<param if="$(arg stereo)" name="approx_sync" type="bool" value="$(arg approx_sync)"/>
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<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
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</node>
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</launch>
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@@ -1,5 +1,7 @@
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<launch>
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<!-- Backward compatibility launch file, use "rtabmap.launch rgbd:=false stereo:=true" instead -->
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<!-- Your camera should be calibrated and publishing rectified left and right
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images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
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Example:
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@@ -17,20 +19,17 @@
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<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
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<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
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<arg name="time_threshold" default="0"/> <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
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<arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
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<arg name="database_path" default="~/.ros/rtabmap.db"/>
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<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
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<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
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<arg name="launch_prefix" default=""/>
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<arg name="approx_sync" default="false"/> <!-- if timestamps of the input topics are not synchronized -->
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<arg name="stereo_namespace" default="/stereo_camera"/>
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<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
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<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
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<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
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<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
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<arg name="approximate_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
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<arg name="compressed" default="false"/>
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<arg name="convert_depth_to_mm" default="true"/>
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<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
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<arg name="scan_topic" default="/scan"/>
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@@ -44,98 +43,40 @@
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<arg name="namespace" default="rtabmap"/>
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<arg name="wait_for_transform" default="0.2"/>
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<!-- Nodes -->
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<group ns="$(arg namespace)">
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<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg name="rgbd" value="false"/>
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<arg name="stereo" value="true"/>
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<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
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<arg name="rviz" value="$(arg rviz)" />
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<arg name="localization" value="$(arg localization)"/>
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<arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" />
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<arg name="rviz_cfg" value="$(arg rviz_cfg)" />
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<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic)" />
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<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic)" />
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<!-- Odometry -->
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<remap from="left/image_rect" to="$(arg left_image_topic)"/>
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<remap from="right/image_rect" to="$(arg right_image_topic)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="approx_sync" type="bool" value="$(arg approximate_sync)"/>
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<param name="Odom/FillInfoData" type="string" value="true"/>
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</node>
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<!-- Visual SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="database_path" type="string" value="$(arg database_path)"/>
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<param name="stereo_approx_sync" type="bool" value="$(arg approximate_sync)"/>
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<remap from="left/image_rect" to="$(arg left_image_topic)"/>
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<remap from="right/image_rect" to="$(arg right_image_topic)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
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<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
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<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
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<param name="Mem/SaveDepth16Format" type="string" value="$(arg convert_depth_to_mm)"/>
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<!-- localization mode -->
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<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
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<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
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<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
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<arg name="frame_id" value="$(arg frame_id)"/>
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<arg name="namespace" value="$(arg namespace)"/>
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<arg name="database_path" value="$(arg database_path)"/>
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<arg name="wait_for_transform" value="$(arg wait_for_transform)"/>
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<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
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<arg name="launch_prefix" value="$(arg launch_prefix)"/>
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<arg name="approx_sync" value="$(arg approx_sync)"/>
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<!-- when 2D scan is set -->
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<param if="$(arg subscribe_scan)" name="Optimizer/Slam2D" type="string" value="true"/>
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<param if="$(arg subscribe_scan)" name="Icp/CorrespondenceRatio" type="string" value="0.25"/>
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<param if="$(arg subscribe_scan)" name="Reg/Strategy" type="string" value="1"/>
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<param if="$(arg subscribe_scan)" name="Reg/Force3DoF" type="string" value="true"/>
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<!-- when 3D scan is set -->
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<param if="$(arg subscribe_scan_cloud)" name="Reg/Strategy" type="string" value="1"/>
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</node>
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<arg name="stereo_namespace" value="$(arg stereo_namespace)"/>
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<arg name="left_image_topic" value="$(arg left_image_topic)" />
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<arg name="right_image_topic" value="$(arg right_image_topic)" />
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<arg name="left_camera_info_topic" value="$(arg left_camera_info_topic)" />
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<arg name="right_camera_info_topic" value="$(arg right_camera_info_topic)" />
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<!-- Visualisation RTAB-Map -->
|
||||
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
|
||||
<param name="subscribe_depth" type="bool" value="false"/>
|
||||
<param name="subscribe_stereo" type="bool" value="true"/>
|
||||
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
|
||||
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
|
||||
<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
|
||||
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
||||
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
|
||||
|
||||
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
|
||||
<remap from="right/image_rect" to="$(arg right_image_topic)"/>
|
||||
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
|
||||
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
|
||||
<remap from="scan" to="$(arg scan_topic)"/>
|
||||
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
|
||||
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
|
||||
</node>
|
||||
<arg name="compressed" value="$(arg compressed)"/>
|
||||
|
||||
<arg name="subscribe_scan" value="$(arg subscribe_scan)"/>
|
||||
<arg name="scan_topic" value="$(arg scan_topic)"/>
|
||||
|
||||
</group>
|
||||
|
||||
<!-- Visualization RVIZ -->
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
|
||||
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
|
||||
<remap from="left/image" to="$(arg left_image_topic)"/>
|
||||
<remap from="right/image" to="$(arg right_image_topic)"/>
|
||||
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
|
||||
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
|
||||
<remap from="cloud" to="voxel_cloud" />
|
||||
|
||||
<param name="decimation" type="double" value="2"/>
|
||||
<param name="voxel_size" type="double" value="0.02"/>
|
||||
<param name="approx_sync" type="bool" value="$(arg approximate_sync)"/>
|
||||
</node>
|
||||
<arg name="subscribe_scan_cloud" value="$(arg subscribe_scan_cloud)"/>
|
||||
<arg name="scan_cloud_topic" value="$(arg scan_cloud_topic)"/>
|
||||
|
||||
<arg name="visual_odometry" value="$(arg visual_odometry)"/>
|
||||
<arg name="odom_topic" value="$(arg odom_topic)"/>
|
||||
<arg name="odom_args" value="$(arg rtabmap_args)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
|
||||
Reference in New Issue
Block a user